2025-10-25T03:46:29.922Z,1761363989.922 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-10-25T03:46:29.922Z,1761363989.922 [lineCaptureHoming:BA.Execute] Stopped
2025-10-25T03:46:29.922Z,1761363989.922 [lineCaptureHoming:InitialDive] Running Loop=1
2025-10-25T03:46:29.922Z,1761363989.922 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-10-25T03:46:29.923Z,1761363989.923 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-10-25T03:46:29.942Z,1761363989.942 [CommandExec](IMPORTANT): got command restart logs
2025-10-25T03:46:29.990Z,1761363989.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:30.245Z,1761363990.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:30.255Z,1761363990.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999656,0.026115,0.002360],[-0.024502,-0.962365,0.270653],[0.009339,0.270502,0.962674]]
2025-10-25T03:46:30.335Z,1761363990.335 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-10-25T03:46:30.335Z,1761363990.335 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-10-25T03:46:30.499Z,1761363990.499 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:30.657Z,1761363990.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998038,0.041953,0.046467],[-0.029171,-0.968384,0.247753],[0.055392,0.245911,0.967708]]
2025-10-25T03:46:30.750Z,1761363990.750 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:31.001Z,1761363991.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:31.061Z,1761363991.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997876,0.032753,0.056302],[-0.026143,-0.993095,0.114367],[0.059659,0.112652,0.991842]]
2025-10-25T03:46:31.254Z,1761363991.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:31.467Z,1761363991.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998791,0.031387,0.037843],[-0.033104,-0.998410,-0.045633],[0.036351,-0.046830,0.998241]]
2025-10-25T03:46:31.505Z,1761363991.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:31.757Z,1761363991.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:31.900Z,1761363991.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999344,0.036210,0.000689],[-0.036213,-0.998807,-0.032745],[-0.000498,-0.032748,0.999463]]
2025-10-25T03:46:32.011Z,1761363992.011 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:32.261Z,1761363992.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:32.285Z,1761363992.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999640,0.018234,-0.019656],[-0.021663,-0.981267,0.191430],[-0.015797,0.191787,0.981309]]
2025-10-25T03:46:32.513Z,1761363992.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:32.685Z,1761363992.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999941,0.010138,0.003818],[-0.007209,-0.885825,0.463963],[0.008086,0.463908,0.885847]]
2025-10-25T03:46:32.765Z,1761363992.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:33.017Z,1761363993.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:33.089Z,1761363993.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998654,0.023274,0.046362],[0.006886,-0.826337,0.563134],[0.051417,0.562695,0.825064]]
2025-10-25T03:46:33.271Z,1761363993.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:33.495Z,1761363993.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998336,0.003775,0.057545],[0.020258,-0.911307,0.411229],[0.053993,0.411711,0.909714]]
2025-10-25T03:46:33.522Z,1761363993.522 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:33.773Z,1761363993.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:33.911Z,1761363993.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998851,-0.037675,0.029621],[0.040562,-0.993768,0.103828],[0.025525,0.104910,0.994154]]
2025-10-25T03:46:34.025Z,1761363994.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:34.278Z,1761363994.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:34.529Z,1761363994.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:34.705Z,1761363994.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998604,-0.012104,0.051413],[0.008516,-0.997549,-0.069447],[0.052127,-0.068912,0.996260]]
2025-10-25T03:46:34.781Z,1761363994.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:35.034Z,1761363995.034 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:35.113Z,1761363995.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996061,-0.013097,0.087698],[0.023842,-0.992166,0.122627],[0.085405,0.124235,0.988570]]
2025-10-25T03:46:35.285Z,1761363995.285 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:35.511Z,1761363995.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993523,-0.002226,0.113614],[0.036868,-0.952039,0.303748],[0.107489,0.305969,0.945954]]
2025-10-25T03:46:35.538Z,1761363995.538 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:35.789Z,1761363995.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:35.922Z,1761363995.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996831,-0.023036,0.076142],[0.049056,-0.931503,0.360411],[0.062624,0.363004,0.929681]]
2025-10-25T03:46:36.041Z,1761363996.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:36.294Z,1761363996.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:36.327Z,1761363996.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996948,-0.058507,0.051686],[0.071766,-0.947439,0.311782],[0.030728,0.314540,0.948747]]
2025-10-25T03:46:36.547Z,1761363996.547 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:36.725Z,1761363996.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994097,-0.063333,0.088091],[0.079796,-0.976922,0.198132],[0.073509,0.203992,0.976209]]
2025-10-25T03:46:36.798Z,1761363996.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:37.049Z,1761363997.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:37.129Z,1761363997.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994549,-0.057501,0.086978],[0.069179,-0.988035,0.137841],[0.078012,0.143107,0.986628]]
2025-10-25T03:46:37.302Z,1761363997.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:37.553Z,1761363997.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:37.806Z,1761363997.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:37.938Z,1761363997.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996130,-0.072320,0.049941],[0.079803,-0.982341,0.169224],[0.036821,0.172555,0.984311]]
2025-10-25T03:46:38.058Z,1761363998.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:38.310Z,1761363998.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:38.342Z,1761363998.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998906,-0.036494,0.029249],[0.042210,-0.972790,0.227809],[0.020140,0.228795,0.973266]]
2025-10-25T03:46:38.445Z,1761363998.445 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:46:38.561Z,1761363998.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:38.745Z,1761363998.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999420,-0.033783,0.004339],[0.033535,-0.953701,0.298880],[-0.005959,0.298852,0.954281]]
2025-10-25T03:46:38.814Z,1761363998.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:39.065Z,1761363999.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:39.152Z,1761363999.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995423,-0.088061,0.037112],[0.095132,-0.949975,0.297486],[0.009058,0.299655,0.954005]]
2025-10-25T03:46:39.318Z,1761363999.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:39.569Z,1761363999.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:39.822Z,1761363999.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:39.962Z,1761363999.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997936,-0.051195,0.038756],[0.058545,-0.973346,0.221744],[0.026371,0.223555,0.974334]]
2025-10-25T03:46:40.074Z,1761364000.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:40.326Z,1761364000.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:40.362Z,1761364000.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995124,-0.082017,0.054782],[0.093756,-0.959062,0.267227],[0.030622,0.271060,0.962075]]
2025-10-25T03:46:40.577Z,1761364000.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:40.766Z,1761364000.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992273,-0.112020,0.053338],[0.121974,-0.959446,0.254135],[0.022707,0.258677,0.965697]]
2025-10-25T03:46:40.829Z,1761364000.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:41.082Z,1761364001.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:41.334Z,1761364001.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:41.586Z,1761364001.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:41.669Z,1761364001.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986801,-0.108309,0.120385],[0.115787,-0.991640,0.056946],[0.113211,0.070133,0.991093]]
2025-10-25T03:46:41.839Z,1761364001.839 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:42.050Z,1761364002.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991712,-0.096151,0.085220],[0.107195,-0.984859,0.136244],[0.070829,0.144250,0.987003]]
2025-10-25T03:46:42.090Z,1761364002.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:42.341Z,1761364002.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:42.455Z,1761364002.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992184,-0.080141,0.095648],[0.102075,-0.962148,0.252689],[0.071777,0.260477,0.962808]]
2025-10-25T03:46:42.595Z,1761364002.595 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:42.845Z,1761364002.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:42.859Z,1761364002.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992358,-0.057510,0.109169],[0.090851,-0.939225,0.331063],[0.083495,0.338451,0.937272]]
2025-10-25T03:46:43.098Z,1761364003.098 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:43.350Z,1761364003.350 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:43.601Z,1761364003.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:43.667Z,1761364003.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984568,-0.154168,0.082809],[0.168343,-0.963642,0.207498],[0.047809,0.218236,0.974724]]
2025-10-25T03:46:43.854Z,1761364003.854 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:44.070Z,1761364004.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982640,-0.164270,0.086223],[0.173065,-0.979080,0.107013],[0.066840,0.120077,0.990512]]
2025-10-25T03:46:44.106Z,1761364004.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:44.357Z,1761364004.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:44.479Z,1761364004.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983366,-0.136783,0.119507],[0.155621,-0.973770,0.165992],[0.093668,0.181828,0.978859]]
2025-10-25T03:46:44.609Z,1761364004.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:44.861Z,1761364004.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:44.879Z,1761364004.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980146,-0.119676,0.158090],[0.161353,-0.944804,0.285149],[0.115238,0.304996,0.945356]]
2025-10-25T03:46:45.114Z,1761364005.114 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:45.282Z,1761364005.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978414,-0.142431,0.149734],[0.181747,-0.937919,0.295424],[0.098361,0.316260,0.943560]]
2025-10-25T03:46:45.365Z,1761364005.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:45.617Z,1761364005.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:45.869Z,1761364005.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:46.090Z,1761364006.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977941,-0.179585,0.106681],[0.195032,-0.967907,0.158491],[0.074795,0.175801,0.981580]]
2025-10-25T03:46:46.122Z,1761364006.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:46.373Z,1761364006.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:46.494Z,1761364006.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974882,-0.191384,0.113915],[0.208695,-0.963600,0.167098],[0.077789,0.186674,0.979337]]
2025-10-25T03:46:46.625Z,1761364006.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:46.877Z,1761364006.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:46.898Z,1761364006.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978372,-0.175353,0.109720],[0.190374,-0.970784,0.146068],[0.080901,0.163797,0.983171]]
2025-10-25T03:46:47.131Z,1761364007.131 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:47.381Z,1761364007.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:47.633Z,1761364007.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:47.768Z,1761364007.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960225,-0.270988,0.067337],[0.278636,-0.945604,0.167914],[0.018171,0.179998,0.983499]]
2025-10-25T03:46:47.885Z,1761364007.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:48.139Z,1761364008.139 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:48.174Z,1761364008.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961071,-0.268695,0.064387],[0.275102,-0.952244,0.132475],[0.025717,0.145031,0.989093]]
2025-10-25T03:46:48.390Z,1761364008.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:48.578Z,1761364008.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965048,-0.236750,0.112393],[0.252611,-0.954522,0.158355],[0.069791,0.181212,0.980965]]
2025-10-25T03:46:48.641Z,1761364008.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:48.893Z,1761364008.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:48.991Z,1761364008.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958506,-0.242249,0.150270],[0.271200,-0.937321,0.218815],[0.087844,0.250489,0.964126]]
2025-10-25T03:46:49.146Z,1761364009.146 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:49.397Z,1761364009.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:49.650Z,1761364009.650 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:49.686Z,1761364009.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953837,-0.275449,0.119678],[0.294765,-0.934956,0.197408],[0.057517,0.223572,0.972989]]
2025-10-25T03:46:49.901Z,1761364009.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:50.089Z,1761364010.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948520,-0.284276,0.139630],[0.306009,-0.936250,0.172614],[0.081658,0.206455,0.975043]]
2025-10-25T03:46:50.155Z,1761364010.155 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:50.406Z,1761364010.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:50.490Z,1761364010.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959145,-0.261328,0.108391],[0.280042,-0.931421,0.232444],[0.040214,0.253302,0.966551]]
2025-10-25T03:46:50.658Z,1761364010.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:50.909Z,1761364010.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:51.164Z,1761364011.164 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:51.295Z,1761364011.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950167,-0.308204,0.046830],[0.308483,-0.907901,0.283820],[-0.044957,0.284122,0.957733]]
2025-10-25T03:46:51.413Z,1761364011.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:51.666Z,1761364011.666 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:51.704Z,1761364011.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931422,-0.359858,0.054361],[0.362259,-0.902371,0.233442],[-0.034952,0.237126,0.970850]]
2025-10-25T03:46:51.917Z,1761364011.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:52.101Z,1761364012.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938053,-0.331748,0.100000],[0.345492,-0.917454,0.197265],[0.026303,0.219594,0.975237]]
2025-10-25T03:46:52.170Z,1761364012.170 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:52.423Z,1761364012.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:52.509Z,1761364012.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944177,-0.296058,0.144498],[0.320728,-0.926268,0.197891],[0.075257,0.233189,0.969515]]
2025-10-25T03:46:52.533Z,1761364012.533 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:46:52.673Z,1761364012.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:52.915Z,1761364012.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949260,-0.283357,0.136432],[0.306797,-0.929733,0.203645],[0.069141,0.235169,0.969492]]
2025-10-25T03:46:52.925Z,1761364012.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:53.183Z,1761364013.183 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:53.319Z,1761364013.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947060,-0.312803,0.072327],[0.321042,-0.920550,0.222532],[-0.003028,0.233971,0.972239]]
2025-10-25T03:46:53.430Z,1761364013.430 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:53.681Z,1761364013.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:53.718Z,1761364013.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934857,-0.351986,0.046345],[0.353813,-0.912922,0.203445],[-0.029301,0.206589,0.977989]]
2025-10-25T03:46:53.933Z,1761364013.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:54.123Z,1761364014.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934430,-0.352446,0.051212],[0.355798,-0.917446,0.178044],[-0.015767,0.184591,0.982689]]
2025-10-25T03:46:54.185Z,1761364014.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:54.438Z,1761364014.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:54.526Z,1761364014.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929486,-0.361387,0.073859],[0.368796,-0.906863,0.203935],[-0.006720,0.216793,0.976194]]
2025-10-25T03:46:54.690Z,1761364014.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:54.942Z,1761364014.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:54.957Z,1761364014.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929279,-0.347569,0.125042],[0.367938,-0.900864,0.230359],[0.032581,0.260076,0.965038]]
2025-10-25T03:46:55.196Z,1761364015.196 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:55.335Z,1761364015.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929919,-0.330523,0.161259],[0.359771,-0.908509,0.212547],[0.076254,0.255668,0.963753]]
2025-10-25T03:46:55.445Z,1761364015.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:55.697Z,1761364015.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:55.763Z,1761364015.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928440,-0.335781,0.158903],[0.358823,-0.921331,0.149651],[0.096153,0.195960,0.975886]]
2025-10-25T03:46:55.951Z,1761364015.951 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:56.141Z,1761364016.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923936,-0.341795,0.171812],[0.360685,-0.927987,0.093526],[0.127473,0.148382,0.980680]]
2025-10-25T03:46:56.201Z,1761364016.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:56.454Z,1761364016.454 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:56.546Z,1761364016.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927061,-0.309037,0.212258],[0.334571,-0.937423,0.096435],[0.169173,0.160417,0.972444]]
2025-10-25T03:46:56.707Z,1761364016.707 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:56.951Z,1761364016.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930000,-0.292073,0.223144],[0.331440,-0.928829,0.165602],[0.158895,0.227969,0.960616]]
2025-10-25T03:46:56.959Z,1761364016.959 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:57.212Z,1761364017.212 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:57.363Z,1761364017.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933989,-0.299460,0.194907],[0.330094,-0.931971,0.149895],[0.136761,0.204338,0.969300]]
2025-10-25T03:46:57.461Z,1761364017.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:57.713Z,1761364017.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:57.765Z,1761364017.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935539,-0.315781,0.158269],[0.344419,-0.914942,0.210375],[0.078375,0.251324,0.964725]]
2025-10-25T03:46:57.966Z,1761364017.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:58.161Z,1761364018.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924899,-0.333068,0.183379],[0.363648,-0.915726,0.170895],[0.111005,0.224746,0.968074]]
2025-10-25T03:46:58.218Z,1761364018.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:58.469Z,1761364018.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:58.566Z,1761364018.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916077,-0.341013,0.210980],[0.370026,-0.921624,0.117008],[0.154543,0.185257,0.970462]]
2025-10-25T03:46:58.722Z,1761364018.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:58.973Z,1761364018.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:59.225Z,1761364019.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:59.373Z,1761364019.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893048,-0.345236,0.288579],[0.402440,-0.899698,0.169070],[0.201265,0.267123,0.942410]]
2025-10-25T03:46:59.477Z,1761364019.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:59.729Z,1761364019.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:46:59.781Z,1761364019.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886675,-0.345819,0.306948],[0.405572,-0.900467,0.157067],[0.222080,0.263757,0.938676]]
2025-10-25T03:46:59.981Z,1761364019.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:00.181Z,1761364020.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879706,-0.351275,0.320503],[0.395814,-0.914467,0.084150],[0.263530,0.200887,0.943502]]
2025-10-25T03:47:00.234Z,1761364020.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:00.485Z,1761364020.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:00.596Z,1761364020.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878116,-0.370171,0.303127],[0.397511,-0.917052,0.031651],[0.266267,0.148290,0.952424]]
2025-10-25T03:47:00.739Z,1761364020.739 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:00.989Z,1761364020.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:00.998Z,1761364020.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881440,-0.398623,0.253304],[0.415455,-0.909499,0.014416],[0.224634,0.117943,0.967279]]
2025-10-25T03:47:01.080Z,1761364021.080 [NAL9602](INFO): Not Powering down - fast GPS
2025-10-25T03:47:01.241Z,1761364021.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:01.432Z,1761364021.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892604,-0.390829,0.224746],[0.409954,-0.911050,0.043883],[0.187604,0.131305,0.973429]]
2025-10-25T03:47:01.494Z,1761364021.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:01.745Z,1761364021.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:01.797Z,1761364021.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873217,-0.395271,0.285049],[0.438698,-0.892291,0.106586],[0.212216,0.218123,0.952568]]
2025-10-25T03:47:01.998Z,1761364021.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:02.202Z,1761364022.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845915,-0.388307,0.365576],[0.446715,-0.890341,0.087965],[0.291330,0.237719,0.926616]]
2025-10-25T03:47:02.226Z,1761364022.226 [BPC1](ERROR): Battery stick #7 (s/n: 02BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-10-25T03:47:02.227Z,1761364022.227 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2025-10-25T03:47:02.229Z,1761364022.229 [BPC1](INFO): Received data from all battery sticks.
2025-10-25T03:47:02.250Z,1761364022.250 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:02.502Z,1761364022.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:02.606Z,1761364022.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839784,-0.396440,0.370943],[0.438804,-0.897949,0.033747],[0.319709,0.191111,0.928042]]
2025-10-25T03:47:02.754Z,1761364022.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:03.005Z,1761364023.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:03.011Z,1761364023.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834595,-0.421804,0.354305],[0.447083,-0.894416,-0.011671],[0.321819,0.148663,0.935057]]
2025-10-25T03:47:03.129Z,1761364023.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:47:03.257Z,1761364023.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:03.422Z,1761364023.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826193,-0.428668,0.365580],[0.444456,-0.894688,-0.044635],[0.346214,0.125607,0.929709]]
2025-10-25T03:47:03.509Z,1761364023.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:03.761Z,1761364023.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:03.825Z,1761364023.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818681,-0.424271,0.386983],[0.446049,-0.894252,-0.036782],[0.361666,0.142501,0.921353]]
2025-10-25T03:47:04.013Z,1761364024.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:04.221Z,1761364024.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814136,-0.416852,0.404249],[0.443177,-0.895888,-0.031284],[0.375202,0.153685,0.914114]]
2025-10-25T03:47:04.266Z,1761364024.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:04.517Z,1761364024.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:04.625Z,1761364024.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807846,-0.409677,0.423733],[0.436333,-0.899011,-0.037321],[0.396230,0.154739,0.905018]]
2025-10-25T03:47:04.771Z,1761364024.771 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:05.021Z,1761364025.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:05.033Z,1761364025.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802348,-0.420429,0.423648],[0.445232,-0.894319,-0.044297],[0.397500,0.153080,0.904743]]
2025-10-25T03:47:05.273Z,1761364025.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:05.526Z,1761364025.526 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:05.777Z,1761364025.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:05.841Z,1761364025.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777987,-0.467204,0.420066],[0.447822,-0.881312,-0.150816],[0.440671,0.070782,0.894874]]
2025-10-25T03:47:06.030Z,1761364026.030 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:06.245Z,1761364026.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777641,-0.463068,0.425257],[0.443475,-0.883465,-0.151062],[0.445651,0.071119,0.892377]]
2025-10-25T03:47:06.281Z,1761364026.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:06.534Z,1761364026.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:06.653Z,1761364026.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768555,-0.447527,0.457213],[0.445286,-0.887310,-0.120005],[0.459395,0.111360,0.881224]]
2025-10-25T03:47:06.792Z,1761364026.792 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:07.041Z,1761364027.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:07.053Z,1761364027.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772384,-0.438352,0.459643],[0.429089,-0.893677,-0.131240],[0.468301,0.095860,0.878353]]
2025-10-25T03:47:07.297Z,1761364027.297 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:07.545Z,1761364027.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:07.797Z,1761364027.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:07.861Z,1761364027.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771819,-0.409101,0.486757],[0.400962,-0.907283,-0.126758],[0.493483,0.097337,0.864291]]
2025-10-25T03:47:08.050Z,1761364028.050 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:08.265Z,1761364028.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775232,-0.397474,0.490949],[0.401175,-0.910149,-0.103384],[0.487929,0.116810,0.865032]]
2025-10-25T03:47:08.302Z,1761364028.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:08.554Z,1761364028.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:08.669Z,1761364028.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765332,-0.388314,0.513302],[0.409766,-0.908963,-0.076672],[0.496345,0.151654,0.854777]]
2025-10-25T03:47:08.806Z,1761364028.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:09.058Z,1761364029.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:09.081Z,1761364029.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753295,-0.393778,0.526769],[0.410198,-0.907375,-0.091698],[0.514086,0.147004,0.845048]]
2025-10-25T03:47:09.310Z,1761364029.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:09.589Z,1761364029.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:09.839Z,1761364029.839 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:09.891Z,1761364029.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759231,-0.405784,0.508830],[0.391548,-0.909303,-0.140922],[0.519864,0.092239,0.849255]]
2025-10-25T03:47:10.090Z,1761364030.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:10.341Z,1761364030.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:10.593Z,1761364030.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:10.685Z,1761364030.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768216,-0.385397,0.511189],[0.376496,-0.917790,-0.126144],[0.517780,0.095555,0.850161]]
2025-10-25T03:47:10.845Z,1761364030.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:11.090Z,1761364031.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768379,-0.381908,0.513556],[0.379837,-0.917960,-0.114335],[0.515090,0.107215,0.850404]]
2025-10-25T03:47:11.099Z,1761364031.099 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:11.349Z,1761364031.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:11.601Z,1761364031.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:11.855Z,1761364031.855 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:12.106Z,1761364032.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:12.305Z,1761364032.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765582,-0.403311,0.501223],[0.406034,-0.907235,-0.109823],[0.499020,0.119435,0.858321]]
2025-10-25T03:47:12.358Z,1761364032.358 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:12.609Z,1761364032.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:12.710Z,1761364032.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753952,-0.418399,0.506457],[0.410566,-0.901943,-0.133919],[0.512827,0.106966,0.851802]]
2025-10-25T03:47:12.861Z,1761364032.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:13.113Z,1761364033.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:13.366Z,1761364033.366 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:13.617Z,1761364033.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:13.869Z,1761364033.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:13.922Z,1761364033.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729060,-0.455121,0.511210],[0.411280,-0.888317,-0.204306],[0.547101,0.061299,0.834819]]
2025-10-25T03:47:14.121Z,1761364034.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:14.334Z,1761364034.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.725513,-0.458848,0.512924],[0.411738,-0.886601,-0.210739],[0.551455,0.058296,0.832165]]
2025-10-25T03:47:14.373Z,1761364034.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:14.625Z,1761364034.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:14.736Z,1761364034.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726932,-0.456135,0.513333],[0.413174,-0.887600,-0.203603],[0.548505,0.064090,0.833688]]
2025-10-25T03:47:14.877Z,1761364034.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:15.129Z,1761364035.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:15.133Z,1761364035.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728998,-0.446913,0.518489],[0.409613,-0.891681,-0.192669],[0.548433,0.071924,0.833095]]
2025-10-25T03:47:15.381Z,1761364035.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:15.538Z,1761364035.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731687,-0.433648,0.525913],[0.402257,-0.897567,-0.180452],[0.550294,0.079518,0.831176]]
2025-10-25T03:47:15.634Z,1761364035.634 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:15.885Z,1761364035.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:15.943Z,1761364035.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735144,-0.421481,0.530958],[0.395161,-0.902829,-0.169553],[0.550828,0.085168,0.830262]]
2025-10-25T03:47:16.137Z,1761364036.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:16.347Z,1761364036.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737736,-0.415196,0.532314],[0.393214,-0.905223,-0.161102],[0.548751,0.090463,0.831077]]
2025-10-25T03:47:16.390Z,1761364036.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:16.641Z,1761364036.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:16.749Z,1761364036.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739723,-0.414359,0.530204],[0.394684,-0.905327,-0.156870],[0.545008,0.093222,0.833232]]
2025-10-25T03:47:16.893Z,1761364036.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:17.149Z,1761364037.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:17.229Z,1761364037.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740470,-0.417382,0.526779],[0.398265,-0.903852,-0.156323],[0.541376,0.094045,0.835504]]
2025-10-25T03:47:17.401Z,1761364037.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:17.654Z,1761364037.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:17.906Z,1761364037.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:17.965Z,1761364037.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736970,-0.428395,0.522831],[0.407178,-0.898779,-0.162489],[0.539519,0.093136,0.836807]]
2025-10-25T03:47:18.157Z,1761364038.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:18.365Z,1761364038.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732817,-0.435784,0.522563],[0.411045,-0.895548,-0.170400],[0.542238,0.089925,0.835399]]
2025-10-25T03:47:18.409Z,1761364038.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:18.661Z,1761364038.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:18.769Z,1761364038.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727126,-0.446189,0.521731],[0.416157,-0.890908,-0.181923],[0.545987,0.084841,0.833487]]
2025-10-25T03:47:18.913Z,1761364038.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:19.168Z,1761364039.168 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:19.236Z,1761364039.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723424,-0.453393,0.520666],[0.419042,-0.887698,-0.190777],[0.548691,0.080169,0.832173]]
2025-10-25T03:47:19.418Z,1761364039.418 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:19.670Z,1761364039.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:19.922Z,1761364039.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:19.981Z,1761364039.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727980,-0.450941,0.516428],[0.414834,-0.889435,-0.191880],[0.545855,0.074547,0.834557]]
2025-10-25T03:47:20.174Z,1761364040.174 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:20.390Z,1761364040.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732214,-0.446757,0.514072],[0.414536,-0.891221,-0.184081],[0.540391,0.078315,0.837762]]
2025-10-25T03:47:20.426Z,1761364040.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:20.677Z,1761364040.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:20.930Z,1761364040.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:21.184Z,1761364041.184 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:21.232Z,1761364041.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734509,-0.441768,0.515110],[0.418625,-0.892406,-0.168417],[0.534089,0.091934,0.840415]]
2025-10-25T03:47:21.433Z,1761364041.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:21.597Z,1761364041.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731602,-0.444024,0.517301],[0.422452,-0.890833,-0.167185],[0.535064,0.096222,0.839314]]
2025-10-25T03:47:21.687Z,1761364041.687 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:21.938Z,1761364041.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:22.001Z,1761364042.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728091,-0.446191,0.520382],[0.423430,-0.889748,-0.170456],[0.539065,0.096237,0.836748]]
2025-10-25T03:47:22.190Z,1761364042.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:22.417Z,1761364042.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726060,-0.445445,0.523847],[0.420192,-0.890444,-0.174782],[0.544312,0.093213,0.833688]]
2025-10-25T03:47:22.442Z,1761364042.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:22.693Z,1761364042.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:22.822Z,1761364042.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726568,-0.441602,0.526391],[0.414660,-0.892686,-0.176548],[0.547865,0.090000,0.831711]]
2025-10-25T03:47:22.945Z,1761364042.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:23.208Z,1761364043.208 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:23.241Z,1761364043.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729144,-0.435347,0.528036],[0.409584,-0.895734,-0.172923],[0.548261,0.090189,0.831430]]
2025-10-25T03:47:23.449Z,1761364043.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:23.618Z,1761364043.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733418,-0.428093,0.528048],[0.405303,-0.899004,-0.165895],[0.545736,0.092349,0.832853]]
2025-10-25T03:47:23.701Z,1761364043.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:23.954Z,1761364043.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:24.022Z,1761364044.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738201,-0.420251,0.527681],[0.401930,-0.902237,-0.156270],[0.541767,0.096732,0.834944]]
2025-10-25T03:47:24.206Z,1761364044.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:24.435Z,1761364044.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741706,-0.413788,0.527875],[0.399597,-0.904711,-0.147714],[0.538697,0.101377,0.836378]]
2025-10-25T03:47:24.457Z,1761364044.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:24.709Z,1761364044.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:24.831Z,1761364044.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743962,-0.409926,0.527713],[0.396273,-0.906526,-0.145528],[0.538041,0.100851,0.836864]]
2025-10-25T03:47:24.961Z,1761364044.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:25.215Z,1761364045.215 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:25.241Z,1761364045.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745620,-0.407354,0.527365],[0.390367,-0.908399,-0.149752],[0.540060,0.094208,0.836337]]
2025-10-25T03:47:25.466Z,1761364045.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:25.640Z,1761364045.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748131,-0.402748,0.527346],[0.381737,-0.911282,-0.154410],[0.542749,0.085789,0.835502]]
2025-10-25T03:47:25.720Z,1761364045.720 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:25.969Z,1761364045.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:26.222Z,1761364046.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:26.443Z,1761364046.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753500,-0.394230,0.526138],[0.370488,-0.915720,-0.155551],[0.543118,0.077721,0.836052]]
2025-10-25T03:47:26.481Z,1761364046.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:26.733Z,1761364046.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:26.850Z,1761364046.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755873,-0.389881,0.525974],[0.367843,-0.917471,-0.151457],[0.541616,0.078994,0.836906]]
2025-10-25T03:47:26.985Z,1761364046.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:27.238Z,1761364047.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:27.255Z,1761364047.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758661,-0.386171,0.524695],[0.366501,-0.918839,-0.146330],[0.538618,0.081287,0.838620]]
2025-10-25T03:47:27.490Z,1761364047.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:27.658Z,1761364047.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760971,-0.385580,0.521778],[0.368315,-0.918820,-0.141826],[0.534105,0.084253,0.841210]]
2025-10-25T03:47:27.742Z,1761364047.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:27.993Z,1761364047.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:28.061Z,1761364048.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762356,-0.389228,0.517025],[0.372648,-0.917196,-0.141014],[0.529100,0.085165,0.844275]]
2025-10-25T03:47:28.246Z,1761364048.246 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:28.469Z,1761364048.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762332,-0.396863,0.511224],[0.378651,-0.914113,-0.144985],[0.524855,0.083048,0.847130]]
2025-10-25T03:47:28.499Z,1761364048.499 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:28.749Z,1761364048.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:28.870Z,1761364048.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760619,-0.406868,0.505882],[0.385110,-0.910109,-0.152946],[0.522637,0.078486,0.848935]]
2025-10-25T03:47:29.001Z,1761364049.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:29.254Z,1761364049.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:29.273Z,1761364049.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757213,-0.418103,0.501816],[0.391401,-0.905515,-0.163854],[0.522910,0.072339,0.849313]]
2025-10-25T03:47:29.506Z,1761364049.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:29.677Z,1761364049.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752683,-0.428821,0.499581],[0.396539,-0.900999,-0.175945],[0.525571,0.065672,0.848211]]
2025-10-25T03:47:29.695Z,1761364049.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:47:29.758Z,1761364049.758 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:30.009Z,1761364050.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:30.081Z,1761364050.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747577,-0.438142,0.499159],[0.400469,-0.896920,-0.187508],[0.529861,0.059721,0.845979]]
2025-10-25T03:47:30.261Z,1761364050.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:30.486Z,1761364050.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742618,-0.445742,0.499832],[0.403091,-0.893501,-0.197924],[0.534824,0.054496,0.843204]]
2025-10-25T03:47:30.514Z,1761364050.514 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:30.765Z,1761364050.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:30.890Z,1761364050.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738390,-0.450661,0.501682],[0.404706,-0.891195,-0.204902],[0.539438,0.051736,0.840434]]
2025-10-25T03:47:31.021Z,1761364051.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:31.273Z,1761364051.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:31.306Z,1761364051.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733085,-0.453387,0.506978],[0.407143,-0.889630,-0.206866],[0.544813,0.054763,0.836768]]
2025-10-25T03:47:31.525Z,1761364051.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:31.702Z,1761364051.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732246,-0.452639,0.508855],[0.409100,-0.889690,-0.202704],[0.544475,0.059744,0.836647]]
2025-10-25T03:47:31.777Z,1761364051.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:32.029Z,1761364052.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:32.106Z,1761364052.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732672,-0.450876,0.509806],[0.411458,-0.890126,-0.195904],[0.542120,0.066231,0.837687]]
2025-10-25T03:47:32.281Z,1761364052.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:32.507Z,1761364052.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734144,-0.449261,0.509115],[0.413687,-0.890523,-0.189292],[0.538420,0.071647,0.839625]]
2025-10-25T03:47:32.533Z,1761364052.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:32.785Z,1761364052.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:33.040Z,1761364053.040 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:33.289Z,1761364053.289 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:33.319Z,1761364053.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740187,-0.440058,0.508402],[0.409619,-0.894709,-0.178066],[0.533231,0.076450,0.842508]]
2025-10-25T03:47:33.541Z,1761364053.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:33.717Z,1761364053.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742767,-0.435933,0.508193],[0.406644,-0.896698,-0.174851],[0.531919,0.076780,0.843307]]
2025-10-25T03:47:33.794Z,1761364053.794 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:34.045Z,1761364054.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:34.124Z,1761364054.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743822,-0.435466,0.507049],[0.406640,-0.896912,-0.173762],[0.530445,0.076938,0.844221]]
2025-10-25T03:47:34.298Z,1761364054.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:34.532Z,1761364054.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743785,-0.438393,0.504575],[0.408404,-0.895644,-0.176146],[0.529141,0.075055,0.845208]]
2025-10-25T03:47:34.552Z,1761364054.552 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:34.677Z,1761364054.677 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:47:34.806Z,1761364054.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:34.929Z,1761364054.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743159,-0.441681,0.502625],[0.410842,-0.894112,-0.178247],[0.528132,0.074034,0.845929]]
2025-10-25T03:47:35.057Z,1761364055.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:35.310Z,1761364055.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:35.334Z,1761364055.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742167,-0.445928,0.500337],[0.413528,-0.892167,-0.181748],[0.527431,0.072016,0.846540]]
2025-10-25T03:47:35.561Z,1761364055.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:35.737Z,1761364055.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741845,-0.449439,0.497665],[0.415169,-0.890640,-0.185460],[0.526593,0.069033,0.847310]]
2025-10-25T03:47:35.813Z,1761364055.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:36.065Z,1761364056.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:36.141Z,1761364056.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742004,-0.451236,0.495799],[0.415602,-0.889916,-0.187946],[0.526028,0.066599,0.847856]]
2025-10-25T03:47:36.318Z,1761364056.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:36.543Z,1761364056.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743261,-0.450893,0.494225],[0.414331,-0.890264,-0.189100],[0.525255,0.064222,0.848518]]
2025-10-25T03:47:36.569Z,1761364056.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:36.825Z,1761364056.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:36.951Z,1761364056.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744597,-0.450804,0.492291],[0.414129,-0.890385,-0.188975],[0.523519,0.063162,0.849670]]
2025-10-25T03:47:37.073Z,1761364057.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:37.325Z,1761364057.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:37.355Z,1761364057.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746471,-0.451787,0.488539],[0.414581,-0.890038,-0.189618],[0.520485,0.060995,0.851690]]
2025-10-25T03:47:37.577Z,1761364057.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:37.757Z,1761364057.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747507,-0.454736,0.484199],[0.417725,-0.888568,-0.189615],[0.516468,0.060524,0.854165]]
2025-10-25T03:47:37.830Z,1761364057.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:38.081Z,1761364058.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:38.161Z,1761364058.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747616,-0.459465,0.479544],[0.423310,-0.886051,-0.189004],[0.511741,0.061693,0.856922]]
2025-10-25T03:47:38.334Z,1761364058.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:38.586Z,1761364058.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:38.588Z,1761364058.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745911,-0.468238,0.473676],[0.432430,-0.881361,-0.190283],[0.506577,0.062898,0.859897]]
2025-10-25T03:47:38.838Z,1761364058.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:38.970Z,1761364058.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742754,-0.479047,0.467792],[0.443246,-0.875438,-0.192721],[0.501846,0.064202,0.862571]]
2025-10-25T03:47:39.090Z,1761364059.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:39.341Z,1761364059.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:39.374Z,1761364059.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738118,-0.492010,0.461636],[0.454955,-0.868239,-0.197932],[0.498195,0.063927,0.864705]]
2025-10-25T03:47:39.594Z,1761364059.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:39.846Z,1761364059.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:40.097Z,1761364060.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:40.182Z,1761364060.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724598,-0.522288,0.449636],[0.477810,-0.850888,-0.218374],[0.496644,0.056607,0.866106]]
2025-10-25T03:47:40.349Z,1761364060.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:40.601Z,1761364060.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:40.602Z,1761364060.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716922,-0.536719,0.444921],[0.487559,-0.842168,-0.230302],[0.498306,0.051817,0.865452]]
2025-10-25T03:47:40.855Z,1761364060.855 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:40.990Z,1761364060.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709757,-0.548792,0.441670],[0.495327,-0.834597,-0.241037],[0.500896,0.047693,0.864193]]
2025-10-25T03:47:41.106Z,1761364061.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:41.357Z,1761364061.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:41.393Z,1761364061.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703520,-0.558771,0.439130],[0.501559,-0.828143,-0.250235],[0.503486,0.044205,0.862872]]
2025-10-25T03:47:41.610Z,1761364061.610 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:41.798Z,1761364061.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698704,-0.565708,0.437935],[0.506602,-0.823464,-0.255462],[0.505141,0.043367,0.861947]]
2025-10-25T03:47:41.861Z,1761364061.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:42.113Z,1761364062.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:42.201Z,1761364062.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695195,-0.569248,0.438931],[0.510922,-0.820835,-0.255321],[0.505631,0.046761,0.861482]]
2025-10-25T03:47:42.365Z,1761364062.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:42.603Z,1761364062.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692339,-0.570448,0.441878],[0.515643,-0.819507,-0.250039],[0.504757,0.054739,0.861525]]
2025-10-25T03:47:42.617Z,1761364062.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:42.870Z,1761364062.870 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:43.010Z,1761364063.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690585,-0.571035,0.443860],[0.519747,-0.818592,-0.244480],[0.502946,0.061860,0.862101]]
2025-10-25T03:47:43.122Z,1761364063.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:43.373Z,1761364063.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:43.416Z,1761364063.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690350,-0.571322,0.443857],[0.522318,-0.818092,-0.240645],[0.500601,0.065705,0.863181]]
2025-10-25T03:47:43.625Z,1761364063.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:43.816Z,1761364063.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691817,-0.570359,0.442808],[0.522969,-0.818629,-0.237380],[0.497887,0.067351,0.864622]]
2025-10-25T03:47:43.887Z,1761364063.887 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:44.138Z,1761364064.138 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:44.230Z,1761364064.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695336,-0.568185,0.440084],[0.520526,-0.820372,-0.236733],[0.495541,0.064466,0.866189]]
2025-10-25T03:47:44.389Z,1761364064.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:44.627Z,1761364064.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700576,-0.562914,0.438544],[0.515597,-0.824187,-0.234256],[0.493308,0.061998,0.867643]]
2025-10-25T03:47:44.641Z,1761364064.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:44.893Z,1761364064.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:45.030Z,1761364065.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706234,-0.557067,0.436933],[0.509808,-0.828382,-0.232120],[0.491253,0.058820,0.869028]]
2025-10-25T03:47:45.145Z,1761364065.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:45.398Z,1761364065.398 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:45.433Z,1761364065.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710953,-0.552108,0.435571],[0.505620,-0.831795,-0.229054],[0.488768,0.057387,0.870524]]
2025-10-25T03:47:45.652Z,1761364065.652 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:45.836Z,1761364065.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714257,-0.548511,0.434709],[0.503687,-0.834105,-0.224872],[0.485938,0.058341,0.872044]]
2025-10-25T03:47:45.907Z,1761364065.907 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:46.157Z,1761364066.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:46.241Z,1761364066.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716051,-0.544932,0.436256],[0.503958,-0.836002,-0.217085],[0.483008,0.064411,0.873244]]
2025-10-25T03:47:46.409Z,1761364066.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:46.653Z,1761364066.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716360,-0.542618,0.438627],[0.506288,-0.836817,-0.208350],[0.480105,0.072818,0.874184]]
2025-10-25T03:47:46.661Z,1761364066.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:46.913Z,1761364066.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:47.168Z,1761364067.168 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:47.417Z,1761364067.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:47.455Z,1761364067.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712699,-0.545921,0.440489],[0.516443,-0.833312,-0.197176],[0.474707,0.086960,0.875837]]
2025-10-25T03:47:47.669Z,1761364067.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:47.860Z,1761364067.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708910,-0.555631,0.434420],[0.524310,-0.827140,-0.202330],[0.471748,0.084337,0.877691]]
2025-10-25T03:47:47.922Z,1761364067.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:48.173Z,1761364068.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:48.261Z,1761364068.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704399,-0.568028,0.425637],[0.533346,-0.819245,-0.210663],[0.468363,0.078621,0.880031]]
2025-10-25T03:47:48.426Z,1761364068.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:48.677Z,1761364068.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:48.929Z,1761364068.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:49.081Z,1761364069.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687858,-0.602693,0.404489],[0.562704,-0.794787,-0.227330],[0.458493,0.071237,0.885838]]
2025-10-25T03:47:49.184Z,1761364069.184 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:49.433Z,1761364069.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:49.478Z,1761364069.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682983,-0.613424,0.396541],[0.570960,-0.786938,-0.233949],[0.455564,0.066626,0.887706]]
2025-10-25T03:47:49.686Z,1761364069.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:49.891Z,1761364069.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678877,-0.622586,0.389245],[0.577469,-0.780138,-0.240653],[0.453492,0.061403,0.889143]]
2025-10-25T03:47:49.939Z,1761364069.939 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:50.189Z,1761364070.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:50.281Z,1761364070.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676224,-0.627177,0.386485],[0.581742,-0.776480,-0.242189],[0.451993,0.061060,0.889929]]
2025-10-25T03:47:50.441Z,1761364070.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:50.686Z,1761364070.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675062,-0.628508,0.386354],[0.583755,-0.775272,-0.241212],[0.451133,0.062703,0.890251]]
2025-10-25T03:47:50.695Z,1761364070.695 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:50.945Z,1761364070.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:51.200Z,1761364071.200 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:51.449Z,1761364071.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:51.498Z,1761364071.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678271,-0.625348,0.385862],[0.581021,-0.777892,-0.239370],[0.449848,0.061836,0.890962]]
2025-10-25T03:47:51.701Z,1761364071.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:51.910Z,1761364071.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681848,-0.619540,0.388914],[0.577063,-0.782308,-0.234504],[0.449535,0.064532,0.890929]]
2025-10-25T03:47:51.954Z,1761364071.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:52.206Z,1761364072.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:52.306Z,1761364072.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686744,-0.611440,0.393096],[0.571662,-0.788321,-0.227492],[0.448984,0.068489,0.890911]]
2025-10-25T03:47:52.457Z,1761364072.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:52.705Z,1761364072.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692639,-0.601095,0.398669],[0.564839,-0.795757,-0.218468],[0.448563,0.073864,0.890694]]
2025-10-25T03:47:52.709Z,1761364072.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:52.961Z,1761364072.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:53.110Z,1761364073.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699789,-0.587940,0.405737],[0.556196,-0.804858,-0.207001],[0.448265,0.080812,0.890240]]
2025-10-25T03:47:53.216Z,1761364073.216 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:53.466Z,1761364073.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:53.717Z,1761364073.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:53.920Z,1761364073.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715463,-0.556929,0.421832],[0.535789,-0.824875,-0.180308],[0.448377,0.097010,0.888564]]
2025-10-25T03:47:53.970Z,1761364073.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:54.222Z,1761364074.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:54.329Z,1761364074.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722727,-0.541866,0.429007],[0.525613,-0.833988,-0.167912],[0.448772,0.104137,0.887558]]
2025-10-25T03:47:54.473Z,1761364074.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:54.725Z,1761364074.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:54.727Z,1761364074.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729448,-0.528627,0.434119],[0.515912,-0.841891,-0.158288],[0.449156,0.108504,0.886840]]
2025-10-25T03:47:54.977Z,1761364074.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:55.129Z,1761364075.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734740,-0.517436,0.438653],[0.507385,-0.848402,-0.150910],[0.450241,0.111686,0.885895]]
2025-10-25T03:47:55.229Z,1761364075.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:55.481Z,1761364075.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:55.539Z,1761364075.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738954,-0.509083,0.441341],[0.500037,-0.853408,-0.147168],[0.451564,0.111936,0.885189]]
2025-10-25T03:47:55.733Z,1761364075.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:55.938Z,1761364075.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741939,-0.502301,0.444094],[0.493629,-0.857472,-0.145164],[0.453714,0.111515,0.884143]]
2025-10-25T03:47:55.989Z,1761364075.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:56.241Z,1761364076.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:56.343Z,1761364076.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743624,-0.497224,0.446980],[0.488724,-0.860455,-0.144105],[0.456259,0.111290,0.882860]]
2025-10-25T03:47:56.493Z,1761364076.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:56.746Z,1761364076.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:56.747Z,1761364076.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744310,-0.494300,0.449077],[0.485024,-0.862346,-0.145297],[0.459080,0.109667,0.881600]]
2025-10-25T03:47:56.997Z,1761364076.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:57.152Z,1761364077.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744022,-0.493277,0.450677],[0.482312,-0.863295,-0.148649],[0.462392,0.106769,0.880224]]
2025-10-25T03:47:57.250Z,1761364077.250 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:57.501Z,1761364077.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:57.559Z,1761364077.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743809,-0.492033,0.452383],[0.479472,-0.864338,-0.151747],[0.465677,0.104034,0.878819]]
2025-10-25T03:47:57.754Z,1761364077.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:57.961Z,1761364077.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743209,-0.491521,0.453925],[0.477014,-0.865006,-0.155638],[0.469147,0.100857,0.877342]]
2025-10-25T03:47:58.006Z,1761364078.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:58.257Z,1761364078.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:58.361Z,1761364078.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743305,-0.489913,0.455503],[0.473487,-0.866312,-0.159103],[0.472555,0.097413,0.875901]]
2025-10-25T03:47:58.509Z,1761364078.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:58.761Z,1761364078.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:58.766Z,1761364078.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743137,-0.488721,0.457055],[0.470918,-0.867241,-0.161648],[0.475377,0.095108,0.874626]]
2025-10-25T03:47:59.014Z,1761364079.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:59.203Z,1761364079.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743332,-0.486772,0.458814],[0.467915,-0.868539,-0.163387],[0.478030,0.093235,0.873381]]
2025-10-25T03:47:59.265Z,1761364079.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:59.517Z,1761364079.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:59.575Z,1761364079.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743615,-0.484113,0.461162],[0.464973,-0.870075,-0.163616],[0.480454,0.092761,0.872101]]
2025-10-25T03:47:59.770Z,1761364079.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:47:59.976Z,1761364079.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744201,-0.481371,0.463084],[0.461518,-0.871748,-0.164490],[0.482873,0.091308,0.870917]]
2025-10-25T03:48:00.023Z,1761364080.023 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:00.273Z,1761364080.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:00.381Z,1761364080.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744510,-0.478755,0.465294],[0.458649,-0.873236,-0.164621],[0.485125,0.090845,0.869713]]
2025-10-25T03:48:00.525Z,1761364080.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:00.777Z,1761364080.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:01.030Z,1761364081.030 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:01.225Z,1761364081.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744179,-0.473047,0.471619],[0.454090,-0.876067,-0.162200],[0.489898,0.093452,0.866757]]
2025-10-25T03:48:01.281Z,1761364081.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:01.533Z,1761364081.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:01.596Z,1761364081.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743321,-0.471131,0.474878],[0.452385,-0.876993,-0.161961],[0.492769,0.094439,0.865020]]
2025-10-25T03:48:01.785Z,1761364081.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:01.999Z,1761364081.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742025,-0.470170,0.477849],[0.451079,-0.877486,-0.162931],[0.495911,0.094648,0.863200]]
2025-10-25T03:48:02.037Z,1761364082.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:02.289Z,1761364082.289 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:02.402Z,1761364082.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740243,-0.470876,0.479912],[0.450433,-0.877250,-0.165960],[0.499149,0.093318,0.861477]]
2025-10-25T03:48:02.541Z,1761364082.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:02.789Z,1761364082.789 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.662987
2025-10-25T03:48:02.793Z,1761364082.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:03.045Z,1761364083.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:03.232Z,1761364083.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736444,-0.471727,0.484895],[0.448436,-0.877073,-0.172185],[0.506513,0.090640,0.857455]]
2025-10-25T03:48:03.298Z,1761364083.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:03.549Z,1761364083.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:03.616Z,1761364083.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734747,-0.471862,0.487333],[0.446898,-0.877189,-0.175560],[0.510323,0.088796,0.855386]]
2025-10-25T03:48:03.795Z,1761364083.795 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:48:03.801Z,1761364083.801 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:04.015Z,1761364084.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733070,-0.470909,0.490767],[0.445098,-0.877740,-0.177371],[0.514292,0.088414,0.853046]]
2025-10-25T03:48:04.054Z,1761364084.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:04.306Z,1761364084.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:04.422Z,1761364084.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731956,-0.469038,0.494211],[0.442390,-0.878810,-0.178842],[0.518201,0.087729,0.850747]]
2025-10-25T03:48:04.557Z,1761364084.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:04.809Z,1761364084.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:04.830Z,1761364084.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730881,-0.466820,0.497888],[0.439370,-0.880055,-0.180160],[0.522271,0.087082,0.848322]]
2025-10-25T03:48:05.061Z,1761364085.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:05.314Z,1761364085.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:05.565Z,1761364085.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:05.634Z,1761364085.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730692,-0.458705,0.505647],[0.429353,-0.884601,-0.182036],[0.530797,0.084089,0.843317]]
2025-10-25T03:48:05.818Z,1761364085.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:06.046Z,1761364086.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733037,-0.443388,0.515814],[0.415712,-0.892265,-0.176201],[0.538368,0.085268,0.838385]]
2025-10-25T03:48:06.069Z,1761364086.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:06.322Z,1761364086.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:06.573Z,1761364086.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:06.832Z,1761364086.832 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:06.846Z,1761364086.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737284,-0.423435,0.526418],[0.399453,-0.901638,-0.165790],[0.544840,0.088045,0.833905]]
2025-10-25T03:48:07.078Z,1761364087.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:07.248Z,1761364087.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740423,-0.412638,0.530569],[0.390870,-0.906512,-0.159550],[0.546804,0.089249,0.832490]]
2025-10-25T03:48:07.329Z,1761364087.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:07.581Z,1761364087.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:07.657Z,1761364087.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743827,-0.401191,0.534572],[0.381851,-0.911513,-0.152758],[0.548555,0.090501,0.831202]]
2025-10-25T03:48:07.834Z,1761364087.834 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:08.065Z,1761364088.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746941,-0.390469,0.538158],[0.373564,-0.916020,-0.146141],[0.550027,0.091878,0.830078]]
2025-10-25T03:48:08.085Z,1761364088.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:08.338Z,1761364088.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:08.589Z,1761364088.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:08.842Z,1761364088.842 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:08.865Z,1761364088.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753537,-0.370304,0.543191],[0.358096,-0.924130,-0.133232],[0.551316,0.094119,0.828971]]
2025-10-25T03:48:09.093Z,1761364089.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:09.268Z,1761364089.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756636,-0.360358,0.545568],[0.351662,-0.927734,-0.125074],[0.551214,0.097220,0.828681]]
2025-10-25T03:48:09.345Z,1761364089.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:09.377Z,1761364089.377 [Radio_Surface](INFO): Powering down
2025-10-25T03:48:09.597Z,1761364089.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:09.673Z,1761364089.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759440,-0.352667,0.546696],[0.346854,-0.930419,-0.118372],[0.550403,0.099728,0.828922]]
2025-10-25T03:48:09.849Z,1761364089.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:10.083Z,1761364090.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762178,-0.346154,0.547048],[0.342645,-0.932672,-0.112772],[0.549253,0.101491,0.829470]]
2025-10-25T03:48:10.101Z,1761364090.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:10.355Z,1761364090.355 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:10.488Z,1761364090.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764721,-0.342007,0.546108],[0.340180,-0.934067,-0.108613],[0.547248,0.102716,0.830644]]
2025-10-25T03:48:10.605Z,1761364090.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:10.858Z,1761364090.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:10.885Z,1761364090.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767280,-0.339692,0.543958],[0.338145,-0.935000,-0.106920],[0.544921,0.101899,0.832272]]
2025-10-25T03:48:11.110Z,1761364091.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:11.361Z,1761364091.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:11.613Z,1761364091.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:11.693Z,1761364091.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771679,-0.336888,0.539461],[0.337593,-0.935805,-0.101487],[0.539020,0.103803,0.835872]]
2025-10-25T03:48:11.866Z,1761364091.866 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:12.101Z,1761364092.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773875,-0.336202,0.536736],[0.337873,-0.935958,-0.099116],[0.535685,0.104646,0.837909]]
2025-10-25T03:48:12.117Z,1761364092.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:12.370Z,1761364092.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:12.501Z,1761364092.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776013,-0.337379,0.532897],[0.338642,-0.935667,-0.099238],[0.532095,0.103452,0.840341]]
2025-10-25T03:48:12.622Z,1761364092.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:12.873Z,1761364092.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:12.905Z,1761364092.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778826,-0.337714,0.528563],[0.337940,-0.935841,-0.099989],[0.528419,0.100748,0.842984]]
2025-10-25T03:48:13.126Z,1761364093.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:13.316Z,1761364093.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781272,-0.338838,0.524217],[0.338395,-0.935629,-0.100432],[0.524503,0.098927,0.845642]]
2025-10-25T03:48:13.377Z,1761364093.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:13.629Z,1761364093.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:13.725Z,1761364093.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784154,-0.339627,0.519380],[0.338280,-0.935602,-0.101066],[0.520258,0.096445,0.848546]]
2025-10-25T03:48:13.881Z,1761364093.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:14.115Z,1761364094.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787449,-0.339138,0.514694],[0.337048,-0.936043,-0.101107],[0.516065,0.093860,0.851392]]
2025-10-25T03:48:14.133Z,1761364094.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:14.385Z,1761364094.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:14.522Z,1761364094.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790514,-0.339106,0.509996],[0.336743,-0.936213,-0.100542],[0.511559,0.092258,0.854281]]
2025-10-25T03:48:14.638Z,1761364094.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:14.889Z,1761364094.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:14.928Z,1761364094.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793814,-0.338421,0.505302],[0.335895,-0.936618,-0.099608],[0.506984,0.090658,0.857175]]
2025-10-25T03:48:15.142Z,1761364095.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:15.331Z,1761364095.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796861,-0.338198,0.500635],[0.335697,-0.936804,-0.098518],[0.502316,0.089556,0.860034]]
2025-10-25T03:48:15.397Z,1761364095.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:15.649Z,1761364095.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:15.739Z,1761364095.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799599,-0.337821,0.496507],[0.335739,-0.936966,-0.096816],[0.497916,0.089283,0.862617]]
2025-10-25T03:48:15.901Z,1761364095.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:16.135Z,1761364096.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802365,-0.336488,0.492935],[0.335143,-0.937428,-0.094387],[0.493851,0.089471,0.864931]]
2025-10-25T03:48:16.153Z,1761364096.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:16.406Z,1761364096.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:16.544Z,1761364096.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804699,-0.336138,0.489358],[0.335267,-0.937553,-0.092689],[0.489955,0.089479,0.867144]]
2025-10-25T03:48:16.657Z,1761364096.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:16.910Z,1761364096.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:16.950Z,1761364096.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806045,-0.336640,0.486791],[0.336481,-0.937281,-0.091018],[0.486900,0.090431,0.868764]]
2025-10-25T03:48:17.164Z,1761364097.164 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:17.349Z,1761364097.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807304,-0.337414,0.484161],[0.337178,-0.937051,-0.090816],[0.484326,0.089932,0.870253]]
2025-10-25T03:48:17.413Z,1761364097.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:17.665Z,1761364097.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:17.762Z,1761364097.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807993,-0.338059,0.482559],[0.338323,-0.936740,-0.089752],[0.482374,0.090742,0.871253]]
2025-10-25T03:48:17.918Z,1761364097.918 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:18.158Z,1761364098.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808719,-0.339451,0.480360],[0.339015,-0.936375,-0.090943],[0.480668,0.089302,0.872344]]
2025-10-25T03:48:18.169Z,1761364098.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:18.422Z,1761364098.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:18.565Z,1761364098.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808952,-0.341850,0.478263],[0.340454,-0.935658,-0.092926],[0.479257,0.087654,0.873287]]
2025-10-25T03:48:18.674Z,1761364098.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:18.925Z,1761364098.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:18.966Z,1761364098.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808875,-0.344283,0.476645],[0.341943,-0.934906,-0.095004],[0.478327,0.086139,0.873947]]
2025-10-25T03:48:19.181Z,1761364099.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:19.429Z,1761364099.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:19.681Z,1761364099.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:19.933Z,1761364099.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:20.178Z,1761364100.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808592,-0.350329,0.472704],[0.344816,-0.933141,-0.101734],[0.476739,0.080735,0.875329]]
2025-10-25T03:48:20.185Z,1761364100.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:20.438Z,1761364100.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:20.584Z,1761364100.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808315,-0.351374,0.472402],[0.345866,-0.932727,-0.101964],[0.476450,0.080968,0.875466]]
2025-10-25T03:48:20.689Z,1761364100.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:20.941Z,1761364100.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:20.986Z,1761364100.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808457,-0.352610,0.471235],[0.345854,-0.932464,-0.104382],[0.476216,0.078590,0.875809]]
2025-10-25T03:48:21.195Z,1761364101.195 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:21.399Z,1761364101.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808708,-0.353821,0.469896],[0.344961,-0.932343,-0.108343],[0.476438,0.074479,0.876048]]
2025-10-25T03:48:21.447Z,1761364101.447 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:21.697Z,1761364101.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:21.802Z,1761364101.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809237,-0.352508,0.469972],[0.343110,-0.932952,-0.108976],[0.476876,0.073065,0.875928]]
2025-10-25T03:48:21.949Z,1761364101.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:22.200Z,1761364102.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809622,-0.350259,0.470990],[0.341454,-0.933738,-0.107437],[0.477412,0.073838,0.875572]]
2025-10-25T03:48:22.201Z,1761364102.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:22.455Z,1761364102.455 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:22.600Z,1761364102.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810337,-0.346752,0.472352],[0.338632,-0.934992,-0.105440],[0.478207,0.074512,0.875080]]
2025-10-25T03:48:22.705Z,1761364102.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:22.957Z,1761364102.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:23.005Z,1761364103.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810872,-0.343323,0.473937],[0.336280,-0.936135,-0.102792],[0.478960,0.076025,0.874539]]
2025-10-25T03:48:23.212Z,1761364103.212 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:23.426Z,1761364103.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812305,-0.333043,0.478793],[0.330369,-0.939273,-0.092855],[0.480642,0.082751,0.873004]]
2025-10-25T03:48:23.461Z,1761364103.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:23.713Z,1761364103.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:23.833Z,1761364103.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813045,-0.328353,0.480773],[0.327579,-0.940672,-0.088474],[0.481301,0.085558,0.872370]]
2025-10-25T03:48:23.966Z,1761364103.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:24.217Z,1761364104.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:24.218Z,1761364104.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813645,-0.323892,0.482780],[0.325245,-0.941912,-0.083774],[0.481870,0.088859,0.871726]]
2025-10-25T03:48:24.471Z,1761364104.471 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:24.620Z,1761364104.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813913,-0.321534,0.483903],[0.323257,-0.942693,-0.082670],[0.482753,0.089139,0.871208]]
2025-10-25T03:48:24.722Z,1761364104.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:24.973Z,1761364104.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:25.026Z,1761364105.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814469,-0.319465,0.484336],[0.320967,-0.943484,-0.082571],[0.483342,0.088205,0.870977]]
2025-10-25T03:48:25.226Z,1761364105.226 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:25.432Z,1761364105.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814503,-0.318468,0.484936],[0.319666,-0.943892,-0.082959],[0.484146,0.087447,0.870606]]
2025-10-25T03:48:25.486Z,1761364105.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:25.738Z,1761364105.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:25.833Z,1761364105.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814451,-0.318190,0.485206],[0.317928,-0.944247,-0.085558],[0.485378,0.084578,0.870204]]
2025-10-25T03:48:25.989Z,1761364105.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:26.237Z,1761364106.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813836,-0.319236,0.485550],[0.317466,-0.944119,-0.088624],[0.486709,0.082020,0.869705]]
2025-10-25T03:48:26.241Z,1761364106.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:26.493Z,1761364106.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:26.641Z,1761364106.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813282,-0.320660,0.485541],[0.317085,-0.943900,-0.092251],[0.487883,0.078932,0.869333]]
2025-10-25T03:48:26.745Z,1761364106.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:26.997Z,1761364106.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:27.045Z,1761364107.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812102,-0.322680,0.486177],[0.318227,-0.943292,-0.094509],[0.489103,0.077964,0.868735]]
2025-10-25T03:48:27.249Z,1761364107.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:27.449Z,1761364107.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810782,-0.324314,0.487291],[0.319559,-0.942719,-0.095722],[0.490423,0.078108,0.867977]]
2025-10-25T03:48:27.501Z,1761364107.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:27.754Z,1761364107.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:27.854Z,1761364107.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809109,-0.326925,0.488326],[0.322053,-0.941752,-0.096876],[0.491553,0.078884,0.867268]]
2025-10-25T03:48:28.005Z,1761364108.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:28.257Z,1761364108.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:28.260Z,1761364108.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806848,-0.331016,0.489310],[0.324997,-0.940385,-0.100262],[0.493329,0.078128,0.866327]]
2025-10-25T03:48:28.509Z,1761364108.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:28.661Z,1761364108.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804928,-0.335586,0.489360],[0.327481,-0.938977,-0.105258],[0.494821,0.075531,0.865706]]
2025-10-25T03:48:28.761Z,1761364108.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:29.013Z,1761364109.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:29.065Z,1761364109.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802978,-0.339578,0.489809],[0.329638,-0.937712,-0.109705],[0.496553,0.073368,0.864900]]
2025-10-25T03:48:29.265Z,1761364109.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:29.471Z,1761364109.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801119,-0.343034,0.490445],[0.331708,-0.936562,-0.113234],[0.498175,0.071970,0.864085]]
2025-10-25T03:48:29.518Z,1761364109.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:29.770Z,1761364109.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:29.875Z,1761364109.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799594,-0.345522,0.491186],[0.332889,-0.935760,-0.116349],[0.499834,0.070478,0.863249]]
2025-10-25T03:48:29.894Z,1761364109.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:48:30.022Z,1761364110.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:30.273Z,1761364110.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:30.278Z,1761364110.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798439,-0.346970,0.492044],[0.332518,-0.935425,-0.120048],[0.501923,0.067763,0.862253]]
2025-10-25T03:48:30.527Z,1761364110.527 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:30.681Z,1761364110.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797159,-0.347048,0.494060],[0.331335,-0.935521,-0.122545],[0.504733,0.066011,0.860748]]
2025-10-25T03:48:30.777Z,1761364110.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:31.029Z,1761364111.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:31.281Z,1761364111.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:31.491Z,1761364111.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795266,-0.340893,0.501343],[0.326147,-0.937646,-0.120204],[0.511059,0.067917,0.856858]]
2025-10-25T03:48:31.534Z,1761364111.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:31.786Z,1761364111.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:31.893Z,1761364111.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794490,-0.335588,0.506128],[0.322607,-0.939346,-0.116423],[0.514499,0.070783,0.854564]]
2025-10-25T03:48:32.038Z,1761364112.038 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:32.290Z,1761364112.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:32.303Z,1761364112.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794000,-0.329170,0.511088],[0.318135,-0.941397,-0.112077],[0.518029,0.073606,0.852190]]
2025-10-25T03:48:32.541Z,1761364112.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:32.710Z,1761364112.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793361,-0.322867,0.516077],[0.314287,-0.943281,-0.106982],[0.521347,0.077321,0.849835]]
2025-10-25T03:48:32.793Z,1761364112.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:33.045Z,1761364113.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:33.106Z,1761364113.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792953,-0.315549,0.521206],[0.309116,-0.945522,-0.102156],[0.525046,0.080108,0.847295]]
2025-10-25T03:48:33.298Z,1761364113.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:33.512Z,1761364113.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791999,-0.309770,0.526099],[0.305086,-0.947222,-0.098448],[0.528829,0.082535,0.844706]]
2025-10-25T03:48:33.557Z,1761364113.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:33.809Z,1761364113.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:33.913Z,1761364113.913 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:48:33.927Z,1761364113.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791622,-0.304410,0.529783],[0.300021,-0.948990,-0.096981],[0.532281,0.082174,0.842570]]
2025-10-25T03:48:34.063Z,1761364114.063 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:34.314Z,1761364114.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:34.325Z,1761364114.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791087,-0.301307,0.532349],[0.295844,-0.950179,-0.098163],[0.535404,0.079837,0.840815]]
2025-10-25T03:48:34.565Z,1761364114.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:34.721Z,1761364114.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791395,-0.297928,0.533791],[0.291024,-0.951517,-0.099605],[0.537586,0.076519,0.839730]]
2025-10-25T03:48:34.817Z,1761364114.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:34.917Z,1761364114.917 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-10-25T03:48:34.917Z,1761364114.917 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:48:35.070Z,1761364115.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:35.127Z,1761364115.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791285,-0.293894,0.536185],[0.287407,-0.952773,-0.098088],[0.539690,0.076487,0.838382]]
2025-10-25T03:48:35.323Z,1761364115.323 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:35.527Z,1761364115.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791447,-0.289866,0.538136],[0.284105,-0.953973,-0.096018],[0.541199,0.076894,0.837371]]
2025-10-25T03:48:35.574Z,1761364115.574 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:35.825Z,1761364115.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:35.934Z,1761364115.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791639,-0.287784,0.538969],[0.281926,-0.954656,-0.095647],[0.542056,0.076231,0.836878]]
2025-10-25T03:48:36.078Z,1761364116.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:36.329Z,1761364116.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:36.583Z,1761364116.583 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:36.741Z,1761364116.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791299,-0.287210,0.539773],[0.280390,-0.954964,-0.097083],[0.543347,0.074526,0.836194]]
2025-10-25T03:48:36.833Z,1761364116.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:37.085Z,1761364117.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:37.150Z,1761364117.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790834,-0.288899,0.539555],[0.280938,-0.954571,-0.099341],[0.543743,0.073019,0.836069]]
2025-10-25T03:48:37.338Z,1761364117.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:37.589Z,1761364117.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:37.841Z,1761364117.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:37.954Z,1761364117.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788942,-0.294619,0.539231],[0.284431,-0.952981,-0.104532],[0.544674,0.070904,0.835645]]
2025-10-25T03:48:38.093Z,1761364118.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:38.350Z,1761364118.350 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:38.369Z,1761364118.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787993,-0.297828,0.538856],[0.286545,-0.952053,-0.107176],[0.544939,0.069952,0.835552]]
2025-10-25T03:48:38.601Z,1761364118.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:38.762Z,1761364118.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786903,-0.302339,0.537936],[0.290051,-0.950667,-0.110015],[0.544660,0.069458,0.835776]]
2025-10-25T03:48:38.854Z,1761364118.854 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:39.105Z,1761364119.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:39.204Z,1761364119.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785885,-0.307421,0.536543],[0.293318,-0.949168,-0.114212],[0.544380,0.067620,0.836109]]
2025-10-25T03:48:39.357Z,1761364119.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:39.611Z,1761364119.611 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:39.861Z,1761364119.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:39.973Z,1761364119.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784202,-0.320507,0.531322],[0.301212,-0.945246,-0.125625],[0.542494,0.061525,0.837804]]
2025-10-25T03:48:40.113Z,1761364120.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:40.365Z,1761364120.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:40.390Z,1761364120.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783411,-0.329039,0.527258],[0.307435,-0.942459,-0.131355],[0.540140,0.059192,0.839491]]
2025-10-25T03:48:40.619Z,1761364120.619 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:40.790Z,1761364120.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783445,-0.333182,0.524598],[0.310624,-0.941069,-0.133798],[0.538262,0.058130,0.840770]]
2025-10-25T03:48:40.870Z,1761364120.870 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:41.122Z,1761364121.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:41.189Z,1761364121.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783794,-0.336784,0.521770],[0.313401,-0.939853,-0.135857],[0.536141,0.057040,0.842199]]
2025-10-25T03:48:41.373Z,1761364121.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:41.591Z,1761364121.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784387,-0.339614,0.519037],[0.315126,-0.938943,-0.138135],[0.534259,0.055211,0.843516]]
2025-10-25T03:48:41.625Z,1761364121.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:41.877Z,1761364121.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:41.997Z,1761364121.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785000,-0.341512,0.516861],[0.317237,-0.938235,-0.138117],[0.532105,0.055546,0.844854]]
2025-10-25T03:48:42.129Z,1761364122.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:42.381Z,1761364122.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:42.398Z,1761364122.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785938,-0.341516,0.515430],[0.318076,-0.938171,-0.136609],[0.530216,0.056579,0.845973]]
2025-10-25T03:48:42.633Z,1761364122.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:42.800Z,1761364122.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786896,-0.341661,0.513870],[0.319283,-0.938030,-0.134753],[0.528065,0.058033,0.847219]]
2025-10-25T03:48:42.888Z,1761364122.888 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:43.138Z,1761364123.138 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:43.205Z,1761364123.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788147,-0.340335,0.512832],[0.319301,-0.938409,-0.132047],[0.526186,0.059675,0.848273]]
2025-10-25T03:48:43.389Z,1761364123.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:43.612Z,1761364123.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789169,-0.339540,0.511786],[0.319869,-0.938576,-0.129454],[0.524305,0.061543,0.849303]]
2025-10-25T03:48:43.642Z,1761364123.642 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:43.893Z,1761364123.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:44.015Z,1761364124.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790422,-0.337393,0.511272],[0.319387,-0.939207,-0.126023],[0.522710,0.063683,0.850129]]
2025-10-25T03:48:44.145Z,1761364124.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:44.397Z,1761364124.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:44.417Z,1761364124.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791783,-0.335651,0.510312],[0.318880,-0.939736,-0.123335],[0.520956,0.065073,0.851100]]
2025-10-25T03:48:44.649Z,1761364124.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:44.822Z,1761364124.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793050,-0.333790,0.509564],[0.318586,-0.940256,-0.120089],[0.519205,0.067104,0.852011]]
2025-10-25T03:48:44.902Z,1761364124.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:45.154Z,1761364125.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:45.405Z,1761364125.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:45.627Z,1761364125.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796250,-0.328239,0.508179],[0.316208,-0.941941,-0.112954],[0.515751,0.070751,0.853812]]
2025-10-25T03:48:45.659Z,1761364125.659 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:45.910Z,1761364125.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:46.033Z,1761364126.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797900,-0.325881,0.507106],[0.314698,-0.942719,-0.110662],[0.514121,0.071288,0.854750]]
2025-10-25T03:48:46.163Z,1761364126.163 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:46.413Z,1761364126.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:46.665Z,1761364126.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:46.842Z,1761364126.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801105,-0.321170,0.505055],[0.311702,-0.944244,-0.106042],[0.510953,0.072475,0.856548]]
2025-10-25T03:48:46.917Z,1761364126.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:47.172Z,1761364127.172 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:47.245Z,1761364127.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802255,-0.319738,0.504138],[0.311456,-0.944611,-0.103465],[0.509296,0.074012,0.857403]]
2025-10-25T03:48:47.422Z,1761364127.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:47.647Z,1761364127.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803889,-0.317891,0.502701],[0.309921,-0.945260,-0.102143],[0.507653,0.073686,0.858405]]
2025-10-25T03:48:47.673Z,1761364127.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:47.925Z,1761364127.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:48.058Z,1761364128.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804904,-0.317341,0.501423],[0.309707,-0.945432,-0.101192],[0.506173,0.073844,0.859264]]
2025-10-25T03:48:48.180Z,1761364128.180 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:48.429Z,1761364128.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:48.462Z,1761364128.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806112,-0.316026,0.500311],[0.308985,-0.945837,-0.099603],[0.504690,0.074297,0.860098]]
2025-10-25T03:48:48.681Z,1761364128.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:48.866Z,1761364128.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807053,-0.315490,0.499131],[0.308618,-0.946025,-0.098954],[0.503409,0.074180,0.860858]]
2025-10-25T03:48:48.934Z,1761364128.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:49.188Z,1761364129.188 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:49.265Z,1761364129.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808169,-0.314596,0.497888],[0.308071,-0.946315,-0.097880],[0.501951,0.074282,0.861700]]
2025-10-25T03:48:49.438Z,1761364129.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:49.671Z,1761364129.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809033,-0.313929,0.496904],[0.308360,-0.946427,-0.095870],[0.500380,0.075663,0.862494]]
2025-10-25T03:48:49.689Z,1761364129.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:49.941Z,1761364129.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:50.083Z,1761364130.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810026,-0.313425,0.495603],[0.308317,-0.946559,-0.094693],[0.498796,0.076099,0.863372]]
2025-10-25T03:48:50.196Z,1761364130.196 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:50.445Z,1761364130.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:50.477Z,1761364130.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811344,-0.312934,0.493754],[0.307914,-0.946752,-0.094070],[0.496901,0.075711,0.864498]]
2025-10-25T03:48:50.697Z,1761364130.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:50.889Z,1761364130.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812606,-0.313069,0.491589],[0.308031,-0.946745,-0.093756],[0.494762,0.075238,0.865766]]
2025-10-25T03:48:50.950Z,1761364130.950 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:51.205Z,1761364131.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:51.295Z,1761364131.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814042,-0.312989,0.489258],[0.307829,-0.946833,-0.093535],[0.492521,0.074467,0.867109]]
2025-10-25T03:48:51.454Z,1761364131.454 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:51.701Z,1761364131.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815275,-0.314483,0.486237],[0.308385,-0.946496,-0.095094],[0.490127,0.072421,0.868637]]
2025-10-25T03:48:51.706Z,1761364131.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:51.957Z,1761364131.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:52.212Z,1761364132.212 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:52.465Z,1761364132.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:52.717Z,1761364132.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:52.917Z,1761364132.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819846,-0.316803,0.476957],[0.309382,-0.946022,-0.096564],[0.481804,0.068394,0.873606]]
2025-10-25T03:48:52.970Z,1761364132.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:53.224Z,1761364133.224 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:53.320Z,1761364133.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820946,-0.318467,0.473947],[0.310813,-0.945513,-0.096960],[0.479001,0.067710,0.875199]]
2025-10-25T03:48:53.473Z,1761364133.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:53.725Z,1761364133.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:53.977Z,1761364133.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:54.120Z,1761364134.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822650,-0.320721,0.469451],[0.312920,-0.944801,-0.097121],[0.474687,0.067005,0.877601]]
2025-10-25T03:48:54.234Z,1761364134.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:54.481Z,1761364134.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:54.527Z,1761364134.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823104,-0.322097,0.467711],[0.314273,-0.944337,-0.097258],[0.473003,0.066935,0.878514]]
2025-10-25T03:48:54.733Z,1761364134.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:54.947Z,1761364134.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823244,-0.323724,0.466339],[0.315738,-0.943795,-0.097781],[0.471782,0.066743,0.879186]]
2025-10-25T03:48:54.989Z,1761364134.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:55.239Z,1761364135.239 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:55.334Z,1761364135.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822713,-0.326878,0.465075],[0.318530,-0.942717,-0.099113],[0.470832,0.066599,0.879706]]
2025-10-25T03:48:55.489Z,1761364135.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:55.736Z,1761364135.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822075,-0.328750,0.464884],[0.320480,-0.942021,-0.099446],[0.470623,0.067234,0.879769]]
2025-10-25T03:48:55.741Z,1761364135.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:55.993Z,1761364135.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:56.141Z,1761364136.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821162,-0.331104,0.464826],[0.323085,-0.941113,-0.099608],[0.470435,0.068384,0.879781]]
2025-10-25T03:48:56.245Z,1761364136.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:56.497Z,1761364136.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:56.550Z,1761364136.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820277,-0.332933,0.465082],[0.325529,-0.940334,-0.099003],[0.470294,0.070188,0.879714]]
2025-10-25T03:48:56.749Z,1761364136.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:56.989Z,1761364136.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818241,-0.337705,0.465229],[0.331026,-0.938416,-0.098980],[0.470004,0.073013,0.879639]]
2025-10-25T03:48:57.002Z,1761364137.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:57.256Z,1761364137.256 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:57.391Z,1761364137.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817133,-0.339414,0.465932],[0.332767,-0.937743,-0.099518],[0.470702,0.073728,0.879206]]
2025-10-25T03:48:57.506Z,1761364137.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:57.757Z,1761364137.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:57.800Z,1761364137.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815728,-0.341268,0.467038],[0.334510,-0.937025,-0.100436],[0.471902,0.074300,0.878515]]
2025-10-25T03:48:58.009Z,1761364138.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:58.197Z,1761364138.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814414,-0.342322,0.468558],[0.334994,-0.936676,-0.102059],[0.473824,0.073846,0.877518]]
2025-10-25T03:48:58.271Z,1761364138.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:58.521Z,1761364138.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:58.603Z,1761364138.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812744,-0.344057,0.470183],[0.336189,-0.936053,-0.103831],[0.475840,0.073683,0.876440]]
2025-10-25T03:48:58.632Z,1761364138.632 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-25T03:48:58.773Z,1761364138.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:59.012Z,1761364139.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811271,-0.344651,0.472287],[0.336585,-0.935810,-0.104737],[0.478069,0.073995,0.875200]]
2025-10-25T03:48:59.025Z,1761364139.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:59.277Z,1761364139.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:59.409Z,1761364139.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809789,-0.345294,0.474355],[0.336854,-0.935574,-0.105971],[0.480386,0.073974,0.873932]]
2025-10-25T03:48:59.530Z,1761364139.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:59.782Z,1761364139.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:48:59.816Z,1761364139.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808827,-0.343720,0.477133],[0.335371,-0.936120,-0.105854],[0.483038,0.074399,0.872433]]
2025-10-25T03:49:00.033Z,1761364140.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:00.216Z,1761364140.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807836,-0.342230,0.479874],[0.333846,-0.936651,-0.105980],[0.485744,0.074589,0.870913]]
2025-10-25T03:49:00.286Z,1761364140.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:00.538Z,1761364140.538 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:00.622Z,1761364140.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807201,-0.340342,0.482281],[0.331317,-0.937432,-0.107007],[0.488524,0.073412,0.869456]]
2025-10-25T03:49:00.789Z,1761364140.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:01.040Z,1761364141.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806444,-0.338074,0.485132],[0.328955,-0.938262,-0.107020],[0.491362,0.073281,0.867867]]
2025-10-25T03:49:01.043Z,1761364141.043 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:01.294Z,1761364141.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:01.429Z,1761364141.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806006,-0.334799,0.488124],[0.325575,-0.939468,-0.106772],[0.494324,0.072862,0.866219]]
2025-10-25T03:49:01.546Z,1761364141.546 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:01.797Z,1761364141.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:01.832Z,1761364141.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805600,-0.331329,0.491152],[0.322136,-0.940715,-0.106226],[0.497230,0.072642,0.864572]]
2025-10-25T03:49:02.051Z,1761364142.051 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:02.237Z,1761364142.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804918,-0.327650,0.494725],[0.318819,-0.941967,-0.105134],[0.500461,0.073104,0.862667]]
2025-10-25T03:49:02.302Z,1761364142.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:02.554Z,1761364142.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:02.805Z,1761364142.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:03.045Z,1761364143.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803414,-0.320441,0.501841],[0.311757,-0.944457,-0.103963],[0.507281,0.072928,0.858689]]
2025-10-25T03:49:03.059Z,1761364143.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:03.310Z,1761364143.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:03.450Z,1761364143.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802546,-0.316454,0.505743],[0.307846,-0.945811,-0.103303],[0.511028,0.072786,0.856477]]
2025-10-25T03:49:03.561Z,1761364143.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:03.813Z,1761364143.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:03.854Z,1761364143.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801512,-0.313083,0.509468],[0.304215,-0.946981,-0.103345],[0.514812,0.072156,0.854261]]
2025-10-25T03:49:04.069Z,1761364144.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:04.256Z,1761364144.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800626,-0.309212,0.513212],[0.300279,-0.948285,-0.102902],[0.518490,0.071721,0.852071]]
2025-10-25T03:49:04.317Z,1761364144.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:04.570Z,1761364144.570 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:04.661Z,1761364144.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799713,-0.305981,0.516561],[0.297034,-0.949351,-0.102488],[0.521757,0.071475,0.850095]]
2025-10-25T03:49:04.822Z,1761364144.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:05.041Z,1761364145.041 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:49:05.069Z,1761364145.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798878,-0.303426,0.519352],[0.294127,-0.950229,-0.102729],[0.524675,0.070688,0.848363]]
2025-10-25T03:49:05.073Z,1761364145.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:05.325Z,1761364145.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:05.474Z,1761364145.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798787,-0.301703,0.520494],[0.291948,-0.950859,-0.103119],[0.526028,0.069587,0.847616]]
2025-10-25T03:49:05.577Z,1761364145.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:05.829Z,1761364145.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:05.873Z,1761364145.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798670,-0.300227,0.521527],[0.290007,-0.951403,-0.103574],[0.527279,0.068525,0.846925]]
2025-10-25T03:49:06.046Z,1761364146.046 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:49:06.081Z,1761364146.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:06.277Z,1761364146.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799078,-0.299068,0.521567],[0.288060,-0.951895,-0.104490],[0.527727,0.066746,0.846788]]
2025-10-25T03:49:06.334Z,1761364146.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:06.586Z,1761364146.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:06.682Z,1761364146.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799098,-0.298542,0.521838],[0.287549,-0.952065,-0.104347],[0.527975,0.066671,0.846639]]
2025-10-25T03:49:06.838Z,1761364146.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:07.089Z,1761364147.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:07.090Z,1761364147.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799505,-0.298008,0.521519],[0.286859,-0.952269,-0.104384],[0.527734,0.066147,0.846830]]
2025-10-25T03:49:07.341Z,1761364147.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:07.492Z,1761364147.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799472,-0.298604,0.521230],[0.288361,-0.951959,-0.103068],[0.526966,0.067902,0.847170]]
2025-10-25T03:49:07.594Z,1761364147.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:07.846Z,1761364147.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:07.895Z,1761364147.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799932,-0.298550,0.520554],[0.288738,-0.951932,-0.102254],[0.526060,0.068507,0.847684]]
2025-10-25T03:49:08.099Z,1761364148.099 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:08.301Z,1761364148.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799912,-0.300008,0.519745],[0.290965,-0.951352,-0.101333],[0.524862,0.070171,0.848290]]
2025-10-25T03:49:08.349Z,1761364148.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:08.601Z,1761364148.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:08.702Z,1761364148.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799964,-0.301385,0.518869],[0.292445,-0.950886,-0.101448],[0.523960,0.070586,0.848813]]
2025-10-25T03:49:08.854Z,1761364148.854 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:09.105Z,1761364149.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:09.113Z,1761364149.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800030,-0.304178,0.517134],[0.294967,-0.949998,-0.102461],[0.522443,0.070566,0.849749]]
2025-10-25T03:49:09.357Z,1761364149.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:09.516Z,1761364149.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800773,-0.305435,0.515240],[0.296550,-0.949554,-0.102006],[0.520405,0.071111,0.850954]]
2025-10-25T03:49:09.609Z,1761364149.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:09.861Z,1761364149.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:09.959Z,1761364149.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801132,-0.307617,0.513380],[0.299731,-0.948692,-0.100724],[0.518024,0.073183,0.852230]]
2025-10-25T03:49:10.113Z,1761364150.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:10.345Z,1761364150.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801552,-0.310674,0.510878],[0.302684,-0.947682,-0.101399],[0.515651,0.073358,0.853652]]
2025-10-25T03:49:10.365Z,1761364150.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:10.617Z,1761364150.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:10.749Z,1761364150.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802166,-0.312929,0.508533],[0.305343,-0.946870,-0.101011],[0.513124,0.074249,0.855097]]
2025-10-25T03:49:10.871Z,1761364150.871 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:11.121Z,1761364151.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:11.154Z,1761364151.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802601,-0.315941,0.505978],[0.308306,-0.945851,-0.101558],[0.510666,0.074486,0.856547]]
2025-10-25T03:49:11.374Z,1761364151.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:11.561Z,1761364151.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803430,-0.317675,0.503570],[0.310268,-0.945239,-0.101277],[0.508168,0.074873,0.857998]]
2025-10-25T03:49:11.625Z,1761364151.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:11.877Z,1761364151.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:11.978Z,1761364151.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804570,-0.320406,0.500007],[0.314490,-0.944092,-0.098926],[0.503749,0.077654,0.860353]]
2025-10-25T03:49:12.130Z,1761364152.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:12.369Z,1761364152.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805105,-0.321812,0.498240],[0.316485,-0.943521,-0.098011],[0.501641,0.078776,0.861482]]
2025-10-25T03:49:12.382Z,1761364152.382 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:12.633Z,1761364152.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:12.769Z,1761364152.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805950,-0.322252,0.496587],[0.317410,-0.943314,-0.096998],[0.499696,0.079446,0.862550]]
2025-10-25T03:49:12.887Z,1761364152.887 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:13.137Z,1761364153.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:13.182Z,1761364153.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806819,-0.322813,0.494808],[0.317875,-0.943158,-0.096999],[0.497995,0.079026,0.863572]]
2025-10-25T03:49:13.389Z,1761364153.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:13.579Z,1761364153.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807711,-0.323921,0.492625],[0.318551,-0.942860,-0.097671],[0.496114,0.078036,0.864744]]
2025-10-25T03:49:13.641Z,1761364153.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:13.893Z,1761364153.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:13.987Z,1761364153.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809400,-0.323314,0.490245],[0.317903,-0.943135,-0.097131],[0.493771,0.077233,0.866156]]
2025-10-25T03:49:14.145Z,1761364154.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:14.385Z,1761364154.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811372,-0.323276,0.486998],[0.317607,-0.943249,-0.096987],[0.490714,0.075981,0.868001]]
2025-10-25T03:49:14.397Z,1761364154.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:14.649Z,1761364154.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:14.790Z,1761364154.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814414,-0.322180,0.482628],[0.316221,-0.943774,-0.096410],[0.486553,0.074100,0.870503]]
2025-10-25T03:49:14.901Z,1761364154.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:15.153Z,1761364155.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:15.202Z,1761364155.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817923,-0.320502,0.477788],[0.314926,-0.944411,-0.094394],[0.481481,0.073261,0.873389]]
2025-10-25T03:49:15.408Z,1761364155.408 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:15.606Z,1761364155.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822266,-0.317402,0.472372],[0.312458,-0.945522,-0.091427],[0.475657,0.072419,0.876645]]
2025-10-25T03:49:15.661Z,1761364155.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:15.913Z,1761364155.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:16.165Z,1761364156.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:16.407Z,1761364156.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831680,-0.309154,0.461230],[0.307093,-0.948159,-0.081789],[0.462604,0.073618,0.883503]]
2025-10-25T03:49:16.417Z,1761364156.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:16.673Z,1761364156.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:16.809Z,1761364156.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836370,-0.304739,0.455653],[0.304757,-0.949427,-0.075579],[0.455641,0.075651,0.886943]]
2025-10-25T03:49:16.926Z,1761364156.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:17.177Z,1761364157.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:17.212Z,1761364157.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841315,-0.300660,0.449214],[0.302112,-0.950664,-0.070468],[0.448238,0.076427,0.890641]]
2025-10-25T03:49:17.430Z,1761364157.430 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:17.635Z,1761364157.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846542,-0.296658,0.441996],[0.299713,-0.951825,-0.064813],[0.439930,0.077605,0.894673]]
2025-10-25T03:49:17.682Z,1761364157.682 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:17.933Z,1761364157.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:18.185Z,1761364158.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:18.424Z,1761364158.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856842,-0.288873,0.427054],[0.295551,-0.953897,-0.052253],[0.422460,0.081443,0.902715]]
2025-10-25T03:49:18.438Z,1761364158.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:18.689Z,1761364158.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:18.829Z,1761364158.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861750,-0.285963,0.419062],[0.294454,-0.954564,-0.045874],[0.413139,0.083863,0.906798]]
2025-10-25T03:49:18.942Z,1761364158.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:19.193Z,1761364159.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:19.231Z,1761364159.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866583,-0.283902,0.410407],[0.293804,-0.955017,-0.040265],[0.403377,0.085686,0.911013]]
2025-10-25T03:49:19.445Z,1761364159.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:19.660Z,1761364159.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871254,-0.282187,0.401605],[0.293738,-0.955282,-0.033983],[0.393236,0.088359,0.915182]]
2025-10-25T03:49:19.698Z,1761364159.698 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:19.949Z,1761364159.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:20.042Z,1761364160.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875914,-0.281170,0.392069],[0.293745,-0.955445,-0.028941],[0.382738,0.089819,0.919480]]
2025-10-25T03:49:20.201Z,1761364160.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:20.454Z,1761364160.454 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:20.705Z,1761364160.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:20.852Z,1761364160.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884134,-0.282696,0.372007],[0.296862,-0.954711,-0.019965],[0.360803,0.092784,0.928015]]
2025-10-25T03:49:20.957Z,1761364160.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:21.210Z,1761364161.210 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:21.251Z,1761364161.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887884,-0.284511,0.361546],[0.299394,-0.954004,-0.015481],[0.349321,0.094499,0.932226]]
2025-10-25T03:49:21.461Z,1761364161.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:21.713Z,1761364161.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:21.965Z,1761364161.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:22.067Z,1761364162.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895022,-0.288267,0.340349],[0.304573,-0.952472,-0.005778],[0.325838,0.098490,0.940281]]
2025-10-25T03:49:22.218Z,1761364162.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:22.466Z,1761364162.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898390,-0.290144,0.329716],[0.306823,-0.951766,-0.001525],[0.314255,0.099794,0.944079]]
2025-10-25T03:49:22.470Z,1761364162.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:22.721Z,1761364162.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:22.973Z,1761364162.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:23.225Z,1761364163.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:23.479Z,1761364163.479 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:23.722Z,1761364163.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907675,-0.294666,0.298829],[0.312357,-0.949887,0.012112],[0.280285,0.104336,0.954230]]
2025-10-25T03:49:23.730Z,1761364163.730 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:23.981Z,1761364163.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:24.084Z,1761364164.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910434,-0.295616,0.289346],[0.313727,-0.949357,0.017222],[0.269601,0.106455,0.957070]]
2025-10-25T03:49:24.233Z,1761364164.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:24.486Z,1761364164.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:24.487Z,1761364164.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913333,-0.295886,0.279775],[0.314225,-0.949092,0.022051],[0.259008,0.108052,0.959812]]
2025-10-25T03:49:24.739Z,1761364164.739 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:24.890Z,1761364164.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916121,-0.295618,0.270801],[0.314252,-0.948950,0.027202],[0.248935,0.110020,0.962251]]
2025-10-25T03:49:24.991Z,1761364164.991 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:25.241Z,1761364165.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:25.305Z,1761364165.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919188,-0.294253,0.261741],[0.312957,-0.949231,0.031910],[0.239063,0.111245,0.964610]]
2025-10-25T03:49:25.493Z,1761364165.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:25.745Z,1761364165.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:25.747Z,1761364165.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922098,-0.292449,0.253395],[0.311498,-0.949499,0.037695],[0.229574,0.113690,0.966628]]
2025-10-25T03:49:25.997Z,1761364165.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:26.101Z,1761364166.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925357,-0.289583,0.244655],[0.308585,-0.950251,0.042408],[0.220203,0.114740,0.968682]]
2025-10-25T03:49:26.249Z,1761364166.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:26.503Z,1761364166.503 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:26.539Z,1761364166.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928259,-0.287320,0.236182],[0.306381,-0.950719,0.047591],[0.210869,0.116539,0.970543]]
2025-10-25T03:49:26.756Z,1761364166.756 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:26.910Z,1761364166.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931371,-0.283892,0.227933],[0.302846,-0.951606,0.052245],[0.202070,0.117688,0.972274]]
2025-10-25T03:49:27.009Z,1761364167.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:27.257Z,1761364167.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:27.332Z,1761364167.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934515,-0.280135,0.219559],[0.298905,-0.952589,0.056830],[0.193230,0.118735,0.973943]]
2025-10-25T03:49:27.511Z,1761364167.511 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:27.763Z,1761364167.763 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:28.013Z,1761364168.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:28.265Z,1761364168.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:28.518Z,1761364168.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:28.772Z,1761364168.772 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:29.022Z,1761364169.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:29.273Z,1761364169.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:29.346Z,1761364169.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950789,-0.256561,0.173715],[0.273204,-0.958669,0.079458],[0.146149,0.123008,0.981585]]
2025-10-25T03:49:29.525Z,1761364169.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:29.779Z,1761364169.779 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:29.794Z,1761364169.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953151,-0.252612,0.166405],[0.268655,-0.959751,0.081871],[0.139026,0.122741,0.982653]]
2025-10-25T03:49:30.029Z,1761364170.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:30.143Z,1761364170.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955360,-0.248734,0.159429],[0.264343,-0.960651,0.085282],[0.131943,0.123619,0.983519]]
2025-10-25T03:49:30.162Z,1761364170.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:30.281Z,1761364170.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:30.541Z,1761364170.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:30.545Z,1761364170.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957182,-0.245907,0.152752],[0.260974,-0.961354,0.087700],[0.125282,0.123809,0.984366]]
2025-10-25T03:49:30.598Z,1761364170.598 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-10-25T03:49:30.599Z,1761364170.599 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-10-25T03:49:30.599Z,1761364170.599 [lineCaptureHoming:InitialDive] Stopped
2025-10-25T03:49:30.599Z,1761364170.599 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-10-25T03:49:30.599Z,1761364170.599 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-10-25T03:49:30.599Z,1761364170.599 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-10-25T03:49:30.600Z,1761364170.600 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-10-25T03:49:30.600Z,1761364170.600 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-10-25T03:49:30.600Z,1761364170.600 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-10-25T03:49:30.600Z,1761364170.600 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-10-25T03:49:30.600Z,1761364170.600 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-10-25T03:49:30.796Z,1761364170.796 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:30.949Z,1761364170.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959079,-0.242514,0.146131],[0.257051,-0.962172,0.090277],[0.118710,0.124146,0.985137]]
2025-10-25T03:49:31.006Z,1761364171.006 [lineCaptureHoming:RepeatHack] Stopped
2025-10-25T03:49:31.006Z,1761364171.006 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-10-25T03:49:31.006Z,1761364171.006 [lineCaptureHoming:RepeatHack:A] Stopped
2025-10-25T03:49:31.007Z,1761364171.007 [lineCaptureHoming:Lap] Running Loop=1
2025-10-25T03:49:31.007Z,1761364171.007 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-10-25T03:49:31.007Z,1761364171.007 [lineCaptureHoming:Lap:A] Running Loop=1
2025-10-25T03:49:31.046Z,1761364171.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:31.298Z,1761364171.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:31.363Z,1761364171.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960668,-0.240005,0.139692],[0.253928,-0.962836,0.092021],[0.112415,0.123873,0.985910]]
2025-10-25T03:49:31.388Z,1761364171.388 [lineCaptureHoming:Lap:A] Stopped
2025-10-25T03:49:31.389Z,1761364171.389 [lineCaptureHoming:Lap:B] Running Loop=1
2025-10-25T03:49:31.389Z,1761364171.389 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-10-25T03:49:31.549Z,1761364171.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:31.761Z,1761364171.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962021,-0.237625,0.134351],[0.251123,-0.963350,0.094304],[0.107018,0.124461,0.986436]]
2025-10-25T03:49:31.804Z,1761364171.804 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture] Running Loop=1
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-25T03:49:31.850Z,1761364171.850 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-25T03:49:31.851Z,1761364171.851 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-10-25T03:49:31.852Z,1761364171.852 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-25T03:49:31.852Z,1761364171.852 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-25T03:49:31.857Z,1761364171.857 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-25T03:49:31.857Z,1761364171.857 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-25T03:49:31.857Z,1761364171.857 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-10-25T03:49:31.857Z,1761364171.857 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-25T03:49:31.857Z,1761364171.857 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-25T03:49:31.858Z,1761364171.858 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-10-25T03:49:31.858Z,1761364171.858 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-10-25T03:49:31.858Z,1761364171.858 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-10-25T03:49:31.858Z,1761364171.858 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-10-25T03:49:31.858Z,1761364171.858 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-10-25T03:49:31.859Z,1761364171.859 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-10-25T03:49:31.859Z,1761364171.859 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-25T03:49:31.859Z,1761364171.859 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-25T03:49:31.859Z,1761364171.859 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-25T03:49:31.860Z,1761364171.860 [lineCaptureHoming:LineCapture:A] Stopped
2025-10-25T03:49:31.860Z,1761364171.860 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-10-25T03:49:32.054Z,1761364172.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:32.219Z,1761364172.219 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-25T03:49:32.219Z,1761364172.219 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T03:49:32.219Z,1761364172.219 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-25T03:49:32.221Z,1761364172.221 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 23.299999 m (mode  0.000000 count ).
2025-10-25T03:49:32.221Z,1761364172.221 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-25T03:49:32.221Z,1761364172.221 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-25T03:49:32.225Z,1761364172.225 [lineCaptureHoming:LineCapture:B] Stopped
2025-10-25T03:49:32.225Z,1761364172.225 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-10-25T03:49:32.306Z,1761364172.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:32.557Z,1761364172.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:32.569Z,1761364172.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964512,-0.230182,0.129359],[0.244839,-0.963096,0.111802],[0.098850,0.139506,0.985275]]
2025-10-25T03:49:32.591Z,1761364172.591 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-25T03:49:32.592Z,1761364172.592 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-25T03:49:32.593Z,1761364172.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:32.597Z,1761364172.597 [lineCaptureHoming:LineCapture:D] Stopped
2025-10-25T03:49:32.597Z,1761364172.597 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-10-25T03:49:32.812Z,1761364172.812 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:32.968Z,1761364172.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965312,-0.228609,0.126137],[0.243451,-0.962660,0.118395],[0.094361,0.144997,0.984922]]
2025-10-25T03:49:33.018Z,1761364173.018 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-25T03:49:33.019Z,1761364173.019 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-25T03:49:33.021Z,1761364173.021 [lineCaptureHoming:LineCapture:E] Stopped
2025-10-25T03:49:33.022Z,1761364173.022 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-10-25T03:49:33.061Z,1761364173.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:33.314Z,1761364173.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:33.374Z,1761364173.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966407,-0.226187,0.122053],[0.240916,-0.962643,0.123606],[0.089535,0.148859,0.984797]]
2025-10-25T03:49:33.390Z,1761364173.390 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-25T03:49:33.391Z,1761364173.391 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T03:49:33.391Z,1761364173.391 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-25T03:49:33.391Z,1761364173.391 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:F] Stopped
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-25T03:49:33.394Z,1761364173.394 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T03:49:33.395Z,1761364173.395 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-25T03:49:33.396Z,1761364173.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-25T03:49:33.397Z,1761364173.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-25T03:49:33.397Z,1761364173.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-25T03:49:33.397Z,1761364173.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-25T03:49:33.397Z,1761364173.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-25T03:49:33.397Z,1761364173.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-25T03:49:33.398Z,1761364173.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-25T03:49:33.566Z,1761364173.566 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:33.784Z,1761364173.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967222,-0.225089,0.117540],[0.239571,-0.962334,0.128531],[0.084182,0.152477,0.984715]]
2025-10-25T03:49:33.820Z,1761364173.820 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-25T03:49:33.866Z,1761364173.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-25T03:49:33.867Z,1761364173.867 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-10-25T03:49:33.868Z,1761364173.868 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-10-25T03:49:33.868Z,1761364173.868 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T03:49:33.873Z,1761364173.873 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.184246 m.
2025-10-25T03:49:34.071Z,1761364174.071 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:34.180Z,1761364174.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968131,-0.223804,0.112403],[0.237822,-0.962230,0.132490],[0.078506,0.155000,0.984790]]
2025-10-25T03:49:34.322Z,1761364174.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:34.583Z,1761364174.583 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:34.589Z,1761364174.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968724,-0.223786,0.107206],[0.237265,-0.961860,0.136129],[0.072653,0.157308,0.984873]]
2025-10-25T03:49:34.605Z,1761364174.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:34.778Z,1761364174.778 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-25T03:49:34.836Z,1761364174.836 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:34.906Z,1761364174.906 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-25T03:49:34.990Z,1761364174.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969559,-0.222673,0.101841],[0.235645,-0.961558,0.140990],[0.066531,0.160697,0.984759]]
2025-10-25T03:49:35.086Z,1761364175.086 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:35.337Z,1761364175.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:35.393Z,1761364175.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970251,-0.222230,0.096054],[0.234524,-0.961227,0.145057],[0.060093,0.163268,0.984750]]
2025-10-25T03:49:35.590Z,1761364175.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:35.796Z,1761364175.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971048,-0.221333,0.089880],[0.232773,-0.961244,0.147736],[0.053698,0.164380,0.984934]]
2025-10-25T03:49:35.844Z,1761364175.844 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:36.093Z,1761364176.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:36.170Z,1761364176.170 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:49:36.201Z,1761364176.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971807,-0.220711,0.082929],[0.231186,-0.961066,0.151347],[0.046296,0.166252,0.984996]]
2025-10-25T03:49:36.345Z,1761364176.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:36.597Z,1761364176.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:36.608Z,1761364176.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972858,-0.219024,0.074665],[0.228284,-0.961202,0.154845],[0.037853,0.167687,0.985113]]
2025-10-25T03:49:36.629Z,1761364176.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:36.849Z,1761364176.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:37.022Z,1761364177.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973649,-0.218394,0.065668],[0.226309,-0.960824,0.160003],[0.028152,0.170648,0.984930]]
2025-10-25T03:49:37.101Z,1761364177.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:37.173Z,1761364177.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:49:37.354Z,1761364177.354 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:37.412Z,1761364177.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974595,-0.216830,0.056122],[0.223251,-0.960580,0.165667],[0.017988,0.173988,0.984583]]
2025-10-25T03:49:37.606Z,1761364177.606 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:37.816Z,1761364177.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975472,-0.215358,0.045554],[0.220021,-0.960222,0.171945],[0.006712,0.177750,0.984053]]
2025-10-25T03:49:37.860Z,1761364177.860 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:38.109Z,1761364178.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:38.222Z,1761364178.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976469,-0.213012,0.033667],[0.215598,-0.960585,0.175483],[-0.005040,0.178612,0.983907]]
2025-10-25T03:49:38.342Z,1761364178.342 [DockingStepper](INFO): Changing to mode: 3
2025-10-25T03:49:38.362Z,1761364178.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:38.613Z,1761364178.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:38.631Z,1761364178.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977157,-0.211408,0.021728],[0.211821,-0.960546,0.180232],[-0.017232,0.180718,0.983384]]
2025-10-25T03:49:38.649Z,1761364178.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:38.867Z,1761364178.867 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:39.029Z,1761364179.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977952,-0.208618,0.009439],[0.206786,-0.961071,0.183252],[-0.029158,0.181163,0.983021]]
2025-10-25T03:49:39.117Z,1761364179.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:39.370Z,1761364179.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:39.438Z,1761364179.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978652,-0.205504,-0.002914],[0.201380,-0.961655,0.186187],[-0.041064,0.181625,0.982510]]
2025-10-25T03:49:39.622Z,1761364179.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:39.873Z,1761364179.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:40.125Z,1761364180.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:40.240Z,1761364180.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979574,-0.199237,-0.027202],[0.190478,-0.962729,0.192019],[-0.064446,0.182915,0.981014]]
2025-10-25T03:49:40.378Z,1761364180.378 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:40.629Z,1761364180.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:40.645Z,1761364180.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979733,-0.196566,-0.038546],[0.185451,-0.962837,0.196351],[-0.075709,0.185223,0.979776]]
2025-10-25T03:49:40.665Z,1761364180.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:40.881Z,1761364180.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:41.050Z,1761364181.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979918,-0.193000,-0.050123],[0.179490,-0.963237,0.199893],[-0.086859,0.186882,0.978535]]
2025-10-25T03:49:41.133Z,1761364181.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:41.386Z,1761364181.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:41.455Z,1761364181.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979971,-0.189569,-0.060990],[0.173740,-0.963569,0.203343],[-0.097316,0.188674,0.977206]]
2025-10-25T03:49:41.638Z,1761364181.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:41.856Z,1761364181.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979904,-0.186103,-0.071796],[0.167831,-0.963737,0.207468],[-0.107803,0.191249,0.975604]]
2025-10-25T03:49:41.889Z,1761364181.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:42.141Z,1761364182.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:42.394Z,1761364182.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:42.647Z,1761364182.647 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:42.673Z,1761364182.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979585,-0.178144,-0.093155],[0.155423,-0.965031,0.211091],[-0.127502,0.192303,0.973017]]
2025-10-25T03:49:42.692Z,1761364182.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:42.897Z,1761364182.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:43.068Z,1761364183.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979140,-0.174903,-0.103411],[0.150153,-0.965737,0.211677],[-0.136891,0.191734,0.971853]]
2025-10-25T03:49:43.151Z,1761364183.151 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:43.401Z,1761364183.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:43.474Z,1761364183.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978743,-0.170702,-0.113682],[0.143967,-0.966615,0.211963],[-0.146070,0.191091,0.970643]]
2025-10-25T03:49:43.654Z,1761364183.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:43.876Z,1761364183.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978083,-0.168111,-0.122852],[0.139158,-0.966673,0.214890],[-0.154883,0.193084,0.968881]]
2025-10-25T03:49:43.905Z,1761364183.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:44.157Z,1761364184.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:44.284Z,1761364184.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977418,-0.164750,-0.132333],[0.133582,-0.966950,0.217173],[-0.163739,0.194592,0.967121]]
2025-10-25T03:49:44.411Z,1761364184.411 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:44.661Z,1761364184.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:44.692Z,1761364184.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976473,-0.162648,-0.141582],[0.129378,-0.967163,0.218762],[-0.172514,0.195297,0.965452]]
2025-10-25T03:49:44.716Z,1761364184.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:44.914Z,1761364184.914 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:45.165Z,1761364185.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:45.417Z,1761364185.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:45.496Z,1761364185.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974526,-0.156659,-0.160490],[0.119289,-0.968045,0.220590],[-0.189919,0.195826,0.962072]]
2025-10-25T03:49:45.669Z,1761364185.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:45.897Z,1761364185.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973520,-0.153153,-0.169713],[0.113734,-0.968488,0.221577],[-0.198300,0.196408,0.960261]]
2025-10-25T03:49:45.921Z,1761364185.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:46.173Z,1761364186.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:46.313Z,1761364186.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971262,-0.147452,-0.186839],[0.104089,-0.969085,0.223696],[-0.214047,0.197819,0.956583]]
2025-10-25T03:49:46.426Z,1761364186.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:46.677Z,1761364186.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:46.719Z,1761364186.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970017,-0.144550,-0.195377],[0.099196,-0.969367,0.224694],[-0.221872,0.198576,0.954642]]
2025-10-25T03:49:46.749Z,1761364186.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:46.929Z,1761364186.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:47.113Z,1761364187.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968850,-0.141185,-0.203460],[0.094297,-0.969999,0.224076],[-0.228992,0.197911,0.953097]]
2025-10-25T03:49:47.181Z,1761364187.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:47.433Z,1761364187.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:47.685Z,1761364187.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:47.917Z,1761364187.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966570,-0.133501,-0.218907],[0.083468,-0.971084,0.223671],[-0.242437,0.197922,0.949764]]
2025-10-25T03:49:47.938Z,1761364187.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:48.189Z,1761364188.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:48.327Z,1761364188.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965377,-0.129646,-0.226361],[0.078188,-0.971665,0.223057],[-0.248866,0.197636,0.948159]]
2025-10-25T03:49:48.441Z,1761364188.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:48.693Z,1761364188.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:48.724Z,1761364188.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964306,-0.125269,-0.233286],[0.072646,-0.972371,0.221850],[-0.254631,0.196984,0.946763]]
2025-10-25T03:49:48.824Z,1761364188.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:48.946Z,1761364188.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:49.136Z,1761364189.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963187,-0.120248,-0.240438],[0.066784,-0.973375,0.219272],[-0.260403,0.195143,0.945574]]
2025-10-25T03:49:49.197Z,1761364189.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:49.450Z,1761364189.450 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:49.533Z,1761364189.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962249,-0.114426,-0.246948],[0.060857,-0.974813,0.214559],[-0.265279,0.191430,0.944977]]
2025-10-25T03:49:49.611Z,1761364189.611 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-10-25T03:49:49.703Z,1761364189.703 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:49.936Z,1761364189.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961315,-0.108866,-0.253023],[0.054796,-0.975805,0.211664],[-0.269944,0.189611,0.944022]]
2025-10-25T03:49:49.954Z,1761364189.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:50.206Z,1761364190.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:50.341Z,1761364190.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960466,-0.104513,-0.258035],[0.049007,-0.975857,0.212839],[-0.274050,0.191779,0.942400]]
2025-10-25T03:49:50.457Z,1761364190.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:50.709Z,1761364190.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:50.961Z,1761364190.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:51.149Z,1761364191.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958980,-0.095675,-0.266838],[0.037615,-0.975946,0.214744],[-0.280965,0.195898,0.939512]]
2025-10-25T03:49:51.213Z,1761364191.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:51.254Z,1761364191.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:51.466Z,1761364191.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:51.554Z,1761364191.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958412,-0.089959,-0.270839],[0.031685,-0.976694,0.212287],[-0.283624,0.194877,0.938925]]
2025-10-25T03:49:51.718Z,1761364191.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:51.957Z,1761364191.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957935,-0.084380,-0.274299],[0.026144,-0.977482,0.209391],[-0.285791,0.193412,0.938571]]
2025-10-25T03:49:51.970Z,1761364191.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:52.222Z,1761364192.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:52.361Z,1761364192.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957661,-0.078739,-0.276922],[0.020359,-0.977986,0.207673],[-0.287178,0.193242,0.938182]]
2025-10-25T03:49:52.474Z,1761364192.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:52.725Z,1761364192.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:52.763Z,1761364192.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957377,-0.074005,-0.279201],[0.015100,-0.978122,0.207482],[-0.288448,0.194422,0.937549]]
2025-10-25T03:49:52.977Z,1761364192.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:53.176Z,1761364193.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957246,-0.068957,-0.280935],[0.009800,-0.978345,0.206746],[-0.289108,0.195154,0.937193]]
2025-10-25T03:49:53.229Z,1761364193.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:53.321Z,1761364193.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:53.487Z,1761364193.487 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:53.574Z,1761364193.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957161,-0.063924,-0.282413],[0.004790,-0.978689,0.205290],[-0.289518,0.195143,0.937069]]
2025-10-25T03:49:53.738Z,1761364193.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:53.978Z,1761364193.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957264,-0.058614,-0.283214],[0.000066,-0.979292,0.202452],[-0.289215,0.193781,0.937445]]
2025-10-25T03:49:53.989Z,1761364193.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:54.242Z,1761364194.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:54.381Z,1761364194.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957362,-0.052448,-0.284090],[-0.005145,-0.980130,0.198289],[-0.288846,0.191296,0.938069]]
2025-10-25T03:49:54.493Z,1761364194.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:54.746Z,1761364194.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:54.787Z,1761364194.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957582,-0.048018,-0.284133],[-0.009368,-0.980310,0.197241],[-0.288010,0.191536,0.938277]]
2025-10-25T03:49:54.998Z,1761364194.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:55.215Z,1761364195.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957810,-0.042886,-0.284183],[-0.014023,-0.980653,0.195253],[-0.287059,0.191001,0.938678]]
2025-10-25T03:49:55.258Z,1761364195.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:55.341Z,1761364195.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:55.510Z,1761364195.510 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:55.593Z,1761364195.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958154,-0.038114,-0.283706],[-0.018200,-0.980980,0.193256],[-0.285675,0.190332,0.939235]]
2025-10-25T03:49:55.761Z,1761364195.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:55.999Z,1761364195.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958520,-0.032950,-0.283114],[-0.023075,-0.981064,0.192302],[-0.284089,0.190859,0.939610]]
2025-10-25T03:49:56.013Z,1761364196.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:56.265Z,1761364196.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:56.517Z,1761364196.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:56.770Z,1761364196.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:57.021Z,1761364197.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:57.243Z,1761364197.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960202,-0.021095,-0.278508],[-0.034834,-0.980314,0.194349],[-0.277125,0.196316,0.940565]]
2025-10-25T03:49:57.274Z,1761364197.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:57.525Z,1761364197.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:57.622Z,1761364197.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960875,-0.015106,-0.276569],[-0.039256,-0.981006,0.189965],[-0.274186,0.193390,0.942031]]
2025-10-25T03:49:57.648Z,1761364197.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:57.777Z,1761364197.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:58.027Z,1761364198.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961572,-0.009513,-0.274388],[-0.043383,-0.981580,0.186061],[-0.271104,0.190815,0.943447]]
2025-10-25T03:49:58.029Z,1761364198.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:58.281Z,1761364198.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:58.420Z,1761364198.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962352,-0.004128,-0.271775],[-0.047410,-0.982007,0.182795],[-0.267640,0.188798,0.944841]]
2025-10-25T03:49:58.534Z,1761364198.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:58.786Z,1761364198.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:58.824Z,1761364198.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963064,0.000695,-0.269271],[-0.051865,-0.981750,0.182966],[-0.264229,0.190174,0.945525]]
2025-10-25T03:49:59.037Z,1761364199.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:59.274Z,1761364199.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964006,0.004212,-0.265848],[-0.055582,-0.980975,0.186008],[-0.260007,0.194090,0.945899]]
2025-10-25T03:49:59.290Z,1761364199.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:59.541Z,1761364199.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:49:59.633Z,1761364199.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964891,0.008627,-0.262510],[-0.059590,-0.980588,0.186805],[-0.255802,0.195889,0.946674]]
2025-10-25T03:49:59.662Z,1761364199.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:49:59.793Z,1761364199.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:00.042Z,1761364200.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965785,0.013106,-0.259013],[-0.063149,-0.980547,0.185848],[-0.251538,0.195846,0.947825]]
2025-10-25T03:50:00.047Z,1761364200.047 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:00.298Z,1761364200.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:00.443Z,1761364200.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966644,0.018621,-0.255445],[-0.067354,-0.980731,0.183388],[-0.247107,0.194476,0.949272]]
2025-10-25T03:50:00.550Z,1761364200.550 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:00.802Z,1761364200.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:00.845Z,1761364200.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967605,0.023138,-0.251406],[-0.070609,-0.980855,0.181486],[-0.242393,0.193359,0.950714]]
2025-10-25T03:50:01.054Z,1761364201.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:01.298Z,1761364201.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968477,0.027918,-0.247535],[-0.074241,-0.980891,0.179837],[-0.237784,0.192545,0.952043]]
2025-10-25T03:50:01.310Z,1761364201.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:01.557Z,1761364201.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:01.653Z,1761364201.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969344,0.031452,-0.243687],[-0.077102,-0.980616,0.180132],[-0.233298,0.193398,0.952979]]
2025-10-25T03:50:01.670Z,1761364201.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:01.810Z,1761364201.810 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:02.057Z,1761364202.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970264,0.034843,-0.239527],[-0.080021,-0.980117,0.181570],[-0.228438,0.195338,0.953760]]
2025-10-25T03:50:02.062Z,1761364202.062 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:02.314Z,1761364202.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:02.460Z,1761364202.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971142,0.037257,-0.235574],[-0.081875,-0.979778,0.182571],[-0.224008,0.196590,0.954554]]
2025-10-25T03:50:02.566Z,1761364202.566 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:02.817Z,1761364202.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:03.069Z,1761364203.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:03.322Z,1761364203.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:03.573Z,1761364203.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:03.708Z,1761364203.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:03.826Z,1761364203.826 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:04.078Z,1761364204.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:04.101Z,1761364204.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975294,0.048094,-0.215614],[-0.088162,-0.979659,0.180264],[-0.202559,0.194819,0.959695]]
2025-10-25T03:50:04.330Z,1761364204.330 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:04.482Z,1761364204.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976047,0.049667,-0.211813],[-0.088805,-0.979744,0.179485],[-0.198608,0.193996,0.960687]]
2025-10-25T03:50:04.581Z,1761364204.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:04.833Z,1761364204.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:04.884Z,1761364204.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976812,0.049960,-0.208189],[-0.088398,-0.979752,0.179643],[-0.194999,0.193881,0.961450]]
2025-10-25T03:50:05.086Z,1761364205.086 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:05.345Z,1761364205.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:05.350Z,1761364205.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977428,0.050994,-0.205020],[-0.088812,-0.979698,0.179733],[-0.191692,0.193884,0.962114]]
2025-10-25T03:50:05.590Z,1761364205.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:05.693Z,1761364205.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978087,0.050426,-0.201999],[-0.088024,-0.979402,0.181723],[-0.188674,0.195521,0.962379]]
2025-10-25T03:50:05.731Z,1761364205.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:05.841Z,1761364205.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:06.093Z,1761364206.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:06.099Z,1761364206.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978688,0.050281,-0.199104],[-0.087756,-0.978975,0.184136],[-0.185659,0.197684,0.962524]]
2025-10-25T03:50:06.346Z,1761364206.346 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:06.505Z,1761364206.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979263,0.049629,-0.196419],[-0.087019,-0.978577,0.186586],[-0.182951,0.199809,0.962603]]
2025-10-25T03:50:06.598Z,1761364206.598 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:06.849Z,1761364206.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:06.904Z,1761364206.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979767,0.049499,-0.193923],[-0.086495,-0.978499,0.187238],[-0.180485,0.200223,0.962983]]
2025-10-25T03:50:07.101Z,1761364207.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:07.297Z,1761364207.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:50:07.351Z,1761364207.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980207,0.050032,-0.191551],[-0.086318,-0.978739,0.186064],[-0.178169,0.198915,0.963685]]
2025-10-25T03:50:07.356Z,1761364207.356 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:07.605Z,1761364207.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:07.721Z,1761364207.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980664,0.050067,-0.189183],[-0.085633,-0.979039,0.184795],[-0.175966,0.197423,0.964396]]
2025-10-25T03:50:07.738Z,1761364207.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:07.862Z,1761364207.862 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:08.113Z,1761364208.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:08.123Z,1761364208.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981051,0.050810,-0.186966],[-0.085712,-0.979252,0.183626],[-0.173757,0.196171,0.965052]]
2025-10-25T03:50:08.301Z,1761364208.301 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:50:08.368Z,1761364208.368 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:08.521Z,1761364208.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981443,0.050622,-0.184950],[-0.085233,-0.979170,0.184287],[-0.171769,0.196631,0.965314]]
2025-10-25T03:50:08.617Z,1761364208.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:08.870Z,1761364208.870 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:08.925Z,1761364208.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981708,0.051124,-0.183403],[-0.085689,-0.978840,0.185819],[-0.170022,0.198136,0.965316]]
2025-10-25T03:50:09.122Z,1761364209.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:09.345Z,1761364209.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982119,0.050573,-0.181343],[-0.085231,-0.978318,0.188759],[-0.167865,0.200840,0.965135]]
2025-10-25T03:50:09.380Z,1761364209.380 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:09.629Z,1761364209.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:09.740Z,1761364209.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982428,0.050827,-0.179588],[-0.085423,-0.977960,0.190518],[-0.165946,0.202511,0.965117]]
2025-10-25T03:50:09.784Z,1761364209.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:09.787Z,1761364209.787 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 23.30 m. Transitioning docking module to standby.
2025-10-25T03:50:09.882Z,1761364209.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:10.133Z,1761364210.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:10.137Z,1761364210.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982698,0.050843,-0.178100],[-0.085186,-0.977914,0.190861],[-0.164462,0.202730,0.965325]]
2025-10-25T03:50:10.234Z,1761364210.234 [DockingStepper](INFO): Changing to mode: 1
2025-10-25T03:50:10.390Z,1761364210.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:10.638Z,1761364210.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:10.889Z,1761364210.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:10.945Z,1761364210.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983102,0.054037,-0.174903],[-0.086996,-0.978565,0.186659],[-0.161067,0.198721,0.966730]]
2025-10-25T03:50:11.141Z,1761364211.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:11.354Z,1761364211.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983373,0.055303,-0.172972],[-0.087588,-0.978828,0.184996],[-0.159079,0.197070,0.967397]]
2025-10-25T03:50:11.396Z,1761364211.396 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:11.645Z,1761364211.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:11.755Z,1761364211.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983560,0.056258,-0.171597],[-0.088229,-0.978806,0.184811],[-0.157563,0.196912,0.967677]]
2025-10-25T03:50:11.813Z,1761364211.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:11.898Z,1761364211.898 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:12.149Z,1761364212.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:12.162Z,1761364212.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983915,0.055945,-0.169651],[-0.087906,-0.978383,0.187186],[-0.155512,0.199088,0.967564]]
2025-10-25T03:50:12.404Z,1761364212.404 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:12.654Z,1761364212.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:12.905Z,1761364212.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:12.965Z,1761364212.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984477,0.054910,-0.166704],[-0.086958,-0.977630,0.191514],[-0.152459,0.203037,0.967229]]
2025-10-25T03:50:13.158Z,1761364213.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:13.412Z,1761364213.412 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:13.661Z,1761364213.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:13.773Z,1761364213.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985112,0.053694,-0.163315],[-0.084672,-0.978301,0.189098],[-0.149617,0.200111,0.968282]]
2025-10-25T03:50:13.818Z,1761364213.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:13.914Z,1761364213.914 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:14.165Z,1761364214.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:14.182Z,1761364214.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985432,0.053441,-0.161455],[-0.083618,-0.978920,0.186341],[-0.148093,0.197126,0.969128]]
2025-10-25T03:50:14.420Z,1761364214.420 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:14.581Z,1761364214.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985744,0.052140,-0.159970],[-0.081770,-0.979398,0.184645],[-0.147047,0.195093,0.969699]]
2025-10-25T03:50:14.670Z,1761364214.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:14.921Z,1761364214.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:14.988Z,1761364214.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986010,0.051156,-0.158643],[-0.080459,-0.979590,0.184199],[-0.145982,0.194386,0.970002]]
2025-10-25T03:50:15.175Z,1761364215.175 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:15.391Z,1761364215.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986174,0.050030,-0.157980],[-0.079326,-0.979537,0.184975],[-0.145493,0.194949,0.969962]]
2025-10-25T03:50:15.428Z,1761364215.428 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:15.677Z,1761364215.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:15.794Z,1761364215.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986415,0.048675,-0.156895],[-0.077927,-0.979440,0.186074],[-0.144612,0.195773,0.969928]]
2025-10-25T03:50:15.842Z,1761364215.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:15.930Z,1761364215.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:16.181Z,1761364216.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:16.204Z,1761364216.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986675,0.046358,-0.155956],[-0.075698,-0.979282,0.187820],[-0.144018,0.197123,0.969743]]
2025-10-25T03:50:16.439Z,1761364216.439 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:16.606Z,1761364216.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986972,0.043777,-0.154824],[-0.073194,-0.979100,0.189751],[-0.143282,0.198611,0.969548]]
2025-10-25T03:50:16.687Z,1761364216.687 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:16.937Z,1761364216.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:17.005Z,1761364217.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987208,0.041826,-0.153852],[-0.071081,-0.979229,0.189890],[-0.142714,0.198397,0.969676]]
2025-10-25T03:50:17.189Z,1761364217.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:17.408Z,1761364217.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987394,0.040269,-0.153074],[-0.069102,-0.979736,0.187997],[-0.142402,0.196205,0.970168]]
2025-10-25T03:50:17.441Z,1761364217.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:17.693Z,1761364217.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:17.813Z,1761364217.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987543,0.039069,-0.152422],[-0.067479,-0.980240,0.185945],[-0.142145,0.193914,0.970666]]
2025-10-25T03:50:17.866Z,1761364217.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:17.946Z,1761364217.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:18.197Z,1761364218.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:18.227Z,1761364218.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987803,0.037349,-0.151166],[-0.065531,-0.980363,0.185996],[-0.141251,0.193634,0.970852]]
2025-10-25T03:50:18.449Z,1761364218.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:18.702Z,1761364218.702 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:18.954Z,1761364218.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:19.025Z,1761364219.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988206,0.034805,-0.149122],[-0.062892,-0.980152,0.188006],[-0.139619,0.195168,0.970781]]
2025-10-25T03:50:19.205Z,1761364219.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:19.428Z,1761364219.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988382,0.033240,-0.148310],[-0.061388,-0.979965,0.189475],[-0.139041,0.196379,0.970620]]
2025-10-25T03:50:19.457Z,1761364219.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:19.709Z,1761364219.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:19.834Z,1761364219.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988556,0.031810,-0.147462],[-0.060003,-0.979776,0.190891],[-0.138408,0.197555,0.970472]]
2025-10-25T03:50:19.906Z,1761364219.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:19.963Z,1761364219.963 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:20.213Z,1761364220.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:20.235Z,1761364220.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988764,0.030165,-0.146408],[-0.058379,-0.979572,0.192434],[-0.137612,0.198819,0.970327]]
2025-10-25T03:50:20.467Z,1761364220.467 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:20.641Z,1761364220.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988904,0.030003,-0.145496],[-0.058009,-0.979626,0.192268],[-0.136763,0.198574,0.970497]]
2025-10-25T03:50:20.717Z,1761364220.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:20.970Z,1761364220.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:21.054Z,1761364221.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989098,0.030194,-0.144129],[-0.057798,-0.979813,0.191381],[-0.135441,0.197625,0.970876]]
2025-10-25T03:50:21.221Z,1761364221.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:21.455Z,1761364221.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989166,0.030565,-0.143581],[-0.058084,-0.979755,0.191591],[-0.134818,0.197856,0.970916]]
2025-10-25T03:50:21.473Z,1761364221.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:21.725Z,1761364221.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:21.853Z,1761364221.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989282,0.031125,-0.142664],[-0.058477,-0.979699,0.191755],[-0.133799,0.198042,0.971019]]
2025-10-25T03:50:21.895Z,1761364221.895 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-10-25T03:50:21.978Z,1761364221.978 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:22.231Z,1761364222.231 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:22.255Z,1761364222.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989414,0.030582,-0.141862],[-0.057900,-0.979557,0.192657],[-0.133070,0.198831,0.970958]]
2025-10-25T03:50:22.271Z,1761364222.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:22.272Z,1761364222.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-10-25T03:50:22.272Z,1761364222.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-10-25T03:50:22.291Z,1761364222.291 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-10-25T03:50:22.482Z,1761364222.482 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:22.662Z,1761364222.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989487,0.031688,-0.141107],[-0.058849,-0.979489,0.192711],[-0.132106,0.198989,0.971057]]
2025-10-25T03:50:22.723Z,1761364222.723 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-10-25T03:50:22.723Z,1761364222.723 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-10-25T03:50:22.723Z,1761364222.723 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-10-25T03:50:22.733Z,1761364222.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:22.986Z,1761364222.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:23.066Z,1761364223.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989606,0.032041,-0.140187],[-0.059089,-0.979363,0.193280],[-0.131101,0.199555,0.971077]]
2025-10-25T03:50:23.087Z,1761364223.087 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-10-25T03:50:23.087Z,1761364223.087 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-25T03:50:23.087Z,1761364223.087 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-10-25T03:50:23.087Z,1761364223.087 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-10-25T03:50:23.087Z,1761364223.087 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-25T03:50:23.238Z,1761364223.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:23.467Z,1761364223.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989726,0.032484,-0.139241],[-0.059406,-0.979239,0.193809],[-0.130054,0.200089,0.971108]]
2025-10-25T03:50:23.489Z,1761364223.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:23.500Z,1761364223.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-25T03:50:23.500Z,1761364223.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T03:50:23.500Z,1761364223.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-25T03:50:23.500Z,1761364223.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-25T03:50:23.501Z,1761364223.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-25T03:50:23.502Z,1761364223.502 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-25T03:50:23.503Z,1761364223.503 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-25T03:50:23.504Z,1761364223.504 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-25T03:50:23.504Z,1761364223.504 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-25T03:50:23.504Z,1761364223.504 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-25T03:50:23.504Z,1761364223.504 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-25T03:50:23.505Z,1761364223.505 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-25T03:50:23.741Z,1761364223.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:23.872Z,1761364223.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989829,0.033225,-0.138327],[-0.060019,-0.979103,0.194308],[-0.128980,0.200634,0.971138]]
2025-10-25T03:50:23.929Z,1761364223.929 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-10-25T03:50:23.993Z,1761364223.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:24.245Z,1761364224.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:24.286Z,1761364224.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989968,0.033385,-0.137294],[-0.060086,-0.978917,0.195221],[-0.127882,0.201512,0.971102]]
2025-10-25T03:50:24.314Z,1761364224.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:24.497Z,1761364224.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:24.684Z,1761364224.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990077,0.035086,-0.136076],[-0.061526,-0.978816,0.195280],[-0.126342,0.201715,0.971262]]
2025-10-25T03:50:24.749Z,1761364224.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:25.002Z,1761364225.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:25.085Z,1761364225.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990147,0.036952,-0.135068],[-0.063131,-0.978764,0.195029],[-0.124993,0.201634,0.971453]]
2025-10-25T03:50:25.253Z,1761364225.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:25.489Z,1761364225.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990147,0.040116,-0.134160],[-0.065938,-0.978790,0.193967],[-0.123533,0.200902,0.971791]]
2025-10-25T03:50:25.507Z,1761364225.507 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:25.757Z,1761364225.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:25.892Z,1761364225.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990172,0.042969,-0.133093],[-0.068380,-0.978871,0.192704],[-0.122000,0.199911,0.972189]]
2025-10-25T03:50:26.014Z,1761364226.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:26.265Z,1761364226.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:26.301Z,1761364226.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990160,0.046005,-0.132162],[-0.070896,-0.979160,0.190314],[-0.120652,0.197811,0.972787]]
2025-10-25T03:50:26.350Z,1761364226.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:26.517Z,1761364226.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:26.703Z,1761364226.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990157,0.047888,-0.131511],[-0.072154,-0.979807,0.186473],[-0.119925,0.194127,0.973618]]
2025-10-25T03:50:26.710Z,1761364226.710 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102419515008,35.0, +13.1,  0.5,  0
2025-10-25T03:50:26.770Z,1761364226.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:27.022Z,1761364227.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:27.105Z,1761364227.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990095,0.051227,-0.130717],[-0.074475,-0.980899,0.179697],[-0.119015,0.187653,0.974998]]
2025-10-25T03:50:27.273Z,1761364227.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:27.514Z,1761364227.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990006,0.053876,-0.130328],[-0.076011,-0.982275,0.171340],[-0.118787,0.179534,0.976554]]
2025-10-25T03:50:27.525Z,1761364227.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:27.779Z,1761364227.779 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:27.913Z,1761364227.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989996,0.056001,-0.129505],[-0.077072,-0.983462,0.163900],[-0.118185,0.172241,0.977939]]
2025-10-25T03:50:28.029Z,1761364228.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:28.281Z,1761364228.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:28.349Z,1761364228.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989988,0.057579,-0.128872],[-0.078243,-0.983762,0.161522],[-0.117480,0.169989,0.978418]]
2025-10-25T03:50:28.385Z,1761364228.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:28.533Z,1761364228.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:28.759Z,1761364228.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990083,0.057368,-0.128236],[-0.078161,-0.983440,0.163511],[-0.116732,0.171912,0.978172]]
2025-10-25T03:50:28.786Z,1761364228.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:29.038Z,1761364229.038 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:29.161Z,1761364229.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990189,0.056332,-0.127878],[-0.077243,-0.983270,0.164963],[-0.116446,0.173222,0.977975]]
2025-10-25T03:50:29.290Z,1761364229.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:29.543Z,1761364229.543 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:29.576Z,1761364229.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990296,0.055016,-0.127624],[-0.075542,-0.983890,0.162028],[-0.116654,0.170097,0.978498]]
2025-10-25T03:50:29.795Z,1761364229.795 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:29.969Z,1761364229.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990407,0.053076,-0.127578],[-0.072982,-0.984927,0.156818],[-0.117332,0.164625,0.979353]]
2025-10-25T03:50:30.046Z,1761364230.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:30.298Z,1761364230.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:30.382Z,1761364230.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990501,0.050310,-0.127975],[-0.069722,-0.985911,0.152044],[-0.118523,0.159522,0.980054]]
2025-10-25T03:50:30.419Z,1761364230.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:30.550Z,1761364230.550 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:30.778Z,1761364230.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990620,0.045761,-0.128758],[-0.064898,-0.986765,0.148604],[-0.120254,0.155566,0.980479]]
2025-10-25T03:50:30.802Z,1761364230.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:31.054Z,1761364231.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:31.184Z,1761364231.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990741,0.040701,-0.129523],[-0.059672,-0.987462,0.146143],[-0.121951,0.152519,0.980748]]
2025-10-25T03:50:31.311Z,1761364231.311 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:31.559Z,1761364231.559 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:31.602Z,1761364231.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990848,0.033591,-0.130732],[-0.052451,-0.988243,0.143610],[-0.124371,0.149153,0.980961]]
2025-10-25T03:50:31.809Z,1761364231.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:32.062Z,1761364232.062 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:32.314Z,1761364232.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:32.403Z,1761364232.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990811,0.019377,-0.133855],[-0.037582,-0.990153,0.134851],[-0.129924,0.138642,0.981783]]
2025-10-25T03:50:32.430Z,1761364232.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:32.565Z,1761364232.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:32.796Z,1761364232.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990666,0.010059,-0.135940],[-0.028909,-0.990092,0.137415],[-0.133211,0.140062,0.981141]]
2025-10-25T03:50:32.817Z,1761364232.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:33.070Z,1761364233.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:33.201Z,1761364233.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990408,-0.000182,-0.138171],[-0.018976,-0.990344,0.137326],[-0.136862,0.138631,0.980842]]
2025-10-25T03:50:33.322Z,1761364233.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:33.573Z,1761364233.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:33.623Z,1761364233.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990026,-0.010081,-0.140524],[-0.008068,-0.991743,0.127987],[-0.140654,0.127844,0.981770]]
2025-10-25T03:50:33.825Z,1761364233.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:34.077Z,1761364234.077 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:34.329Z,1761364234.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:34.414Z,1761364234.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988878,-0.030014,-0.145668],[0.013912,-0.993799,0.110320],[-0.148076,0.107067,0.983163]]
2025-10-25T03:50:34.432Z,1761364234.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:34.583Z,1761364234.583 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:34.816Z,1761364234.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988183,-0.041138,-0.147653],[0.025056,-0.993708,0.109166],[-0.151215,0.104177,0.982996]]
2025-10-25T03:50:34.833Z,1761364234.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:35.086Z,1761364235.086 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:35.223Z,1761364235.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987402,-0.053169,-0.149031],[0.036458,-0.992960,0.112704],[-0.153974,0.105851,0.982389]]
2025-10-25T03:50:35.338Z,1761364235.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:35.590Z,1761364235.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:35.841Z,1761364235.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:36.030Z,1761364236.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985624,-0.077137,-0.150319],[0.058682,-0.990600,0.123562],[-0.158437,0.112965,0.980886]]
2025-10-25T03:50:36.094Z,1761364236.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:36.345Z,1761364236.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:36.436Z,1761364236.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984627,-0.088909,-0.150346],[0.069578,-0.989164,0.129279],[-0.160211,0.116830,0.980144]]
2025-10-25T03:50:36.459Z,1761364236.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:36.597Z,1761364236.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:36.843Z,1761364236.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982686,-0.107940,-0.150591],[0.088295,-0.987369,0.131551],[-0.162888,0.115977,0.979804]]
2025-10-25T03:50:36.849Z,1761364236.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:37.102Z,1761364237.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:37.246Z,1761364237.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981815,-0.115275,-0.150834],[0.095706,-0.986733,0.131139],[-0.163950,0.114319,0.979822]]
2025-10-25T03:50:37.355Z,1761364237.355 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:37.605Z,1761364237.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:37.643Z,1761364237.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981126,-0.121311,-0.150581],[0.101600,-0.985983,0.132341],[-0.164525,0.114545,0.979700]]
2025-10-25T03:50:37.857Z,1761364237.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:38.050Z,1761364238.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980780,-0.124823,-0.149966],[0.104598,-0.985181,0.135935],[-0.164711,0.117636,0.979302]]
2025-10-25T03:50:38.109Z,1761364238.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:38.361Z,1761364238.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:38.421Z,1761364238.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:50:38.459Z,1761364238.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980883,-0.125183,-0.148989],[0.104273,-0.984541,0.140736],[-0.164304,0.122511,0.978772]]
2025-10-25T03:50:38.477Z,1761364238.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:38.613Z,1761364238.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:38.865Z,1761364238.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:39.117Z,1761364239.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:39.370Z,1761364239.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:39.425Z,1761364239.425 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:50:39.622Z,1761364239.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:39.673Z,1761364239.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984270,-0.102589,-0.143836],[0.077855,-0.982687,0.168121],[-0.158593,0.154278,0.975216]]
2025-10-25T03:50:39.873Z,1761364239.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:40.126Z,1761364240.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:40.377Z,1761364240.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:40.522Z,1761364240.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:40.630Z,1761364240.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:40.878Z,1761364240.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989250,-0.047664,-0.138246],[0.016840,-0.976230,0.216082],[-0.145259,0.211431,0.966538]]
2025-10-25T03:50:40.881Z,1761364240.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:41.133Z,1761364241.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:41.281Z,1761364241.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990157,-0.024491,-0.137799],[-0.008123,-0.972855,0.231271],[-0.139723,0.230114,0.963081]]
2025-10-25T03:50:41.387Z,1761364241.387 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:41.639Z,1761364241.639 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:41.889Z,1761364241.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:42.089Z,1761364242.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989987,0.024620,-0.138996],[-0.059968,-0.964752,0.256237],[-0.127788,0.262007,0.956568]]
2025-10-25T03:50:42.142Z,1761364242.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:42.394Z,1761364242.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:42.582Z,1761364242.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:42.645Z,1761364242.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:42.897Z,1761364242.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:42.945Z,1761364242.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986953,0.076873,-0.141474],[-0.112385,-0.958117,0.263404],[-0.115300,0.275867,0.954255]]
2025-10-25T03:50:43.153Z,1761364243.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:43.379Z,1761364243.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984276,0.103773,-0.142938],[-0.138725,-0.955079,0.261879],[-0.109341,0.277590,0.954457]]
2025-10-25T03:50:43.415Z,1761364243.415 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:43.665Z,1761364243.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:43.776Z,1761364243.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980989,0.129276,-0.144736],[-0.163698,-0.951802,0.259375],[-0.104229,0.278137,0.954870]]
2025-10-25T03:50:43.917Z,1761364243.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:44.170Z,1761364244.170 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:44.291Z,1761364244.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976839,0.155212,-0.147289],[-0.189181,-0.948098,0.255580],[-0.099975,0.277525,0.955503]]
2025-10-25T03:50:44.422Z,1761364244.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:44.673Z,1761364244.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:44.721Z,1761364244.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:44.927Z,1761364244.927 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:45.081Z,1761364245.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966600,0.204836,-0.154035],[-0.238593,-0.938656,0.248993],[-0.093583,0.277428,0.956178]]
2025-10-25T03:50:45.177Z,1761364245.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:45.429Z,1761364245.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:45.492Z,1761364245.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960465,0.228718,-0.158732],[-0.262844,-0.932893,0.246220],[-0.091765,0.278207,0.956128]]
2025-10-25T03:50:45.681Z,1761364245.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:45.936Z,1761364245.936 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:46.186Z,1761364246.186 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:46.437Z,1761364246.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:46.689Z,1761364246.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:46.697Z,1761364246.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938797,0.296642,-0.175108],[-0.332600,-0.912888,0.236670],[-0.089648,0.280426,0.955680]]
2025-10-25T03:50:46.743Z,1761364246.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:46.943Z,1761364246.943 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:47.108Z,1761364247.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920983,0.341706,-0.187156],[-0.379160,-0.896585,0.228852],[-0.089601,0.281731,0.955301]]
2025-10-25T03:50:47.193Z,1761364247.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:47.445Z,1761364247.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:47.513Z,1761364247.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911329,0.363480,-0.193290],[-0.401737,-0.887761,0.224694],[-0.089923,0.282422,0.955066]]
2025-10-25T03:50:47.700Z,1761364247.700 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:47.945Z,1761364247.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900662,0.385877,-0.199766],[-0.425043,-0.877886,0.220579],[-0.090255,0.283576,0.954693]]
2025-10-25T03:50:47.951Z,1761364247.951 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:48.201Z,1761364248.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:48.326Z,1761364248.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889472,0.407764,-0.206318],[-0.447907,-0.867452,0.216580],[-0.090658,0.285053,0.954215]]
2025-10-25T03:50:48.454Z,1761364248.454 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:48.705Z,1761364248.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:48.722Z,1761364248.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877161,0.430364,-0.213016],[-0.471498,-0.855945,0.212244],[-0.090987,0.286609,0.953717]]
2025-10-25T03:50:48.754Z,1761364248.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:48.960Z,1761364248.960 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:49.125Z,1761364249.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864321,0.452276,-0.219989],[-0.494538,-0.843889,0.208049],[-0.091551,0.288614,0.953058]]
2025-10-25T03:50:49.147Z,1761364249.147 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -16.19,     +2      +48.66,  16.83,  0.00
2025-10-25T03:50:49.210Z,1761364249.210 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:49.461Z,1761364249.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:49.541Z,1761364249.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850430,0.474734,-0.226709],[-0.518018,-0.830833,0.203404],[-0.091794,0.290420,0.952486]]
2025-10-25T03:50:49.715Z,1761364249.715 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:49.959Z,1761364249.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835700,0.497152,-0.233333],[-0.541403,-0.817073,0.198176],[-0.092127,0.291943,0.951988]]
2025-10-25T03:50:49.968Z,1761364249.968 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:50.217Z,1761364250.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:50.350Z,1761364250.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820097,0.519558,-0.239792],[-0.564678,-0.802627,0.192168],[-0.092621,0.293002,0.951615]]
2025-10-25T03:50:50.470Z,1761364250.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:50.722Z,1761364250.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:50.757Z,1761364250.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803247,0.542508,-0.245928],[-0.588215,-0.787477,0.184075],[-0.093800,0.292516,0.951649]]
2025-10-25T03:50:50.773Z,1761364250.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:50.976Z,1761364250.976 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:51.163Z,1761364251.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785807,0.564691,-0.252254],[-0.611072,-0.771796,0.175848],[-0.095389,0.292328,0.951549]]
2025-10-25T03:50:51.225Z,1761364251.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:51.479Z,1761364251.479 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:51.577Z,1761364251.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766824,0.587275,-0.259016],[-0.634450,-0.754650,0.167264],[-0.097237,0.292595,0.951280]]
2025-10-25T03:50:51.729Z,1761364251.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:51.984Z,1761364251.984 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:52.003Z,1761364252.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747285,0.609128,-0.265573],[-0.657066,-0.736973,0.158543],[-0.099147,0.292975,0.950965]]
2025-10-25T03:50:52.234Z,1761364252.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:52.374Z,1761364252.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726692,0.630743,-0.272180],[-0.679506,-0.718199,0.149871],[-0.100950,0.293858,0.950503]]
2025-10-25T03:50:52.486Z,1761364252.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:52.737Z,1761364252.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:52.780Z,1761364252.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705390,0.651220,-0.279890],[-0.701247,-0.698711,0.141621],[-0.103336,0.296170,0.949529]]
2025-10-25T03:50:52.797Z,1761364252.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:52.992Z,1761364252.992 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:53.241Z,1761364253.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:53.493Z,1761364253.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:53.585Z,1761364253.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660242,0.691017,-0.294240],[-0.743337,-0.657238,0.124455],[-0.107385,0.300890,0.947594]]
2025-10-25T03:50:53.746Z,1761364253.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:53.000Z,1761364254.000 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:54.003Z,1761364254.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637059,0.710114,-0.299823],[-0.763061,-0.636021,0.114961],[-0.109058,0.302021,0.947043]]
2025-10-25T03:50:54.249Z,1761364254.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:54.394Z,1761364254.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612988,0.729465,-0.303522],[-0.782292,-0.614211,0.103749],[-0.110746,0.301040,0.947159]]
2025-10-25T03:50:54.502Z,1761364254.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:54.753Z,1761364254.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:54.803Z,1761364254.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588383,0.748153,-0.306712],[-0.800706,-0.591922,0.092182],[-0.112583,0.299824,0.947328]]
2025-10-25T03:50:54.819Z,1761364254.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:55.008Z,1761364255.008 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:55.258Z,1761364255.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:55.509Z,1761364255.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:55.605Z,1761364255.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538005,0.782702,-0.312934],[-0.834896,-0.545960,0.069837],[-0.116188,0.298840,0.947204]]
2025-10-25T03:50:55.762Z,1761364255.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:56.013Z,1761364256.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:56.265Z,1761364256.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:56.414Z,1761364256.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486408,0.813811,-0.317992],[-0.865657,-0.498228,0.049055],[-0.118511,0.299133,0.946823]]
2025-10-25T03:50:56.518Z,1761364256.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:56.770Z,1761364256.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:56.816Z,1761364256.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459809,0.828361,-0.319989],[-0.879920,-0.473561,0.038486],[-0.119654,0.299261,0.946639]]
2025-10-25T03:50:56.847Z,1761364256.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:57.023Z,1761364257.023 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:57.221Z,1761364257.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433447,0.841753,-0.321831],[-0.893067,-0.449030,0.028352],[-0.120647,0.299705,0.946373]]
2025-10-25T03:50:57.273Z,1761364257.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:57.525Z,1761364257.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:57.629Z,1761364257.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406697,0.854354,-0.323538],[-0.905480,-0.423979,0.018632],[-0.121255,0.300535,0.946032]]
2025-10-25T03:50:57.777Z,1761364257.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:58.031Z,1761364258.031 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:58.046Z,1761364258.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380050,0.865823,-0.325443],[-0.916929,-0.398938,0.009430],[-0.121667,0.301992,0.945515]]
2025-10-25T03:50:58.281Z,1761364258.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:58.432Z,1761364258.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352760,0.876691,-0.327067],[-0.927762,-0.373172,0.000370],[-0.121728,0.303571,0.945001]]
2025-10-25T03:50:58.533Z,1761364258.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:58.786Z,1761364258.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:58.838Z,1761364258.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325950,0.886647,-0.328045],[-0.937521,-0.347824,-0.008572],[-0.121702,0.304755,0.944623]]
2025-10-25T03:50:58.877Z,1761364258.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:50:59.040Z,1761364259.040 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:59.290Z,1761364259.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:59.542Z,1761364259.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:50:59.656Z,1761364259.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272483,0.905073,-0.326492],[-0.954516,-0.296971,-0.026619],[-0.121051,0.304388,0.944825]]
2025-10-25T03:50:59.793Z,1761364259.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:00.046Z,1761364260.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:00.062Z,1761364260.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245939,0.913478,-0.324147],[-0.961764,-0.271560,-0.035568],[-0.120516,0.303006,0.945338]]
2025-10-25T03:51:00.298Z,1761364260.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:00.549Z,1761364260.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:00.802Z,1761364260.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:00.858Z,1761364260.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192371,0.927851,-0.319508],[-0.973957,-0.220341,-0.053466],[-0.120009,0.300902,0.946074]]
2025-10-25T03:51:01.056Z,1761364261.056 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:01.262Z,1761364261.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165785,0.934177,-0.315956],[-0.978855,-0.194812,-0.062382],[-0.119828,0.298933,0.946721]]
2025-10-25T03:51:01.306Z,1761364261.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:01.329Z,1761364261.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:01.557Z,1761364261.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:01.664Z,1761364261.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139233,0.939404,-0.313264],[-0.982982,-0.169395,-0.071079],[-0.119837,0.298036,0.947002]]
2025-10-25T03:51:01.809Z,1761364261.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:02.061Z,1761364262.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:02.069Z,1761364262.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112439,0.943497,-0.311721],[-0.986422,-0.143778,-0.079372],[-0.119706,0.298564,0.946853]]
2025-10-25T03:51:02.314Z,1761364262.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:02.484Z,1761364262.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085378,0.946749,-0.310447],[-0.989104,-0.118044,-0.087970],[-0.119932,0.299553,0.946512]]
2025-10-25T03:51:02.565Z,1761364262.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:02.817Z,1761364262.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:02.879Z,1761364262.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058069,0.949432,-0.308555],[-0.991044,-0.092053,-0.096739],[-0.120251,0.300174,0.946274]]
2025-10-25T03:51:03.070Z,1761364263.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:03.322Z,1761364263.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:03.367Z,1761364263.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:03.574Z,1761364263.574 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:03.690Z,1761364263.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025325,0.954140,-0.298286],[-0.992267,-0.012275,-0.123511],[-0.121509,0.299108,0.946451]]
2025-10-25T03:51:03.826Z,1761364263.826 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:04.078Z,1761364264.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:04.095Z,1761364264.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053786,0.953910,-0.295234],[-0.991082,0.014899,-0.132416],[-0.121914,0.299723,0.946205]]
2025-10-25T03:51:04.329Z,1761364264.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:04.508Z,1761364264.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082029,0.952865,-0.292094],[-0.989136,0.041964,-0.140886],[-0.121988,0.300478,0.945956]]
2025-10-25T03:51:04.582Z,1761364264.582 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:04.833Z,1761364264.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:04.897Z,1761364264.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110747,0.950716,-0.289612],[-0.986292,0.069269,-0.149763],[-0.122321,0.302227,0.945355]]
2025-10-25T03:51:05.085Z,1761364265.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:05.307Z,1761364265.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140426,0.947863,-0.286070],[-0.982441,0.097549,-0.159044],[-0.122846,0.303381,0.944917]]
2025-10-25T03:51:05.337Z,1761364265.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:05.590Z,1761364265.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:05.706Z,1761364265.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170005,0.944234,-0.281995],[-0.977667,0.125732,-0.168400],[-0.123554,0.304326,0.944521]]
2025-10-25T03:51:05.728Z,1761364265.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:05.841Z,1761364265.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:06.094Z,1761364266.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:06.118Z,1761364266.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198818,0.939933,-0.277485],[-0.972160,0.153324,-0.177192],[-0.124004,0.304988,0.944248]]
2025-10-25T03:51:06.346Z,1761364266.346 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:06.599Z,1761364266.599 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:06.640Z,1761364266.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227538,0.935134,-0.271572],[-0.965790,0.181089,-0.185626],[-0.124406,0.304518,0.944347]]
2025-10-25T03:51:06.849Z,1761364266.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:07.023Z,1761364267.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256594,0.929370,-0.265388],[-0.958408,0.209162,-0.194178],[-0.124954,0.304175,0.944386]]
2025-10-25T03:51:07.102Z,1761364267.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:07.353Z,1761364267.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:07.425Z,1761364267.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284729,0.922957,-0.258995],[-0.950372,0.236445,-0.202203],[-0.125387,0.303715,0.944476]]
2025-10-25T03:51:07.605Z,1761364267.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:07.831Z,1761364267.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.312687,0.915370,-0.253623],[-0.941422,0.263155,-0.210887],[-0.126298,0.304707,0.944035]]
2025-10-25T03:51:07.848Z,1761364267.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:07.857Z,1761364267.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:08.109Z,1761364268.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:08.361Z,1761364268.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:08.613Z,1761364268.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:08.637Z,1761364268.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366719,0.898644,-0.240743],[-0.921459,0.315196,-0.227078],[-0.128181,0.305108,0.943652]]
2025-10-25T03:51:08.867Z,1761364268.867 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:09.043Z,1761364269.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393072,0.889449,-0.233184],[-0.910365,0.340770,-0.234759],[-0.129344,0.304560,0.943670]]
2025-10-25T03:51:09.119Z,1761364269.119 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:09.370Z,1761364269.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:09.549Z,1761364269.549 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:51:09.622Z,1761364269.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:09.849Z,1761364269.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443929,0.869265,-0.217495],[-0.886367,0.390387,-0.248900],[-0.131453,0.303275,0.943793]]
2025-10-25T03:51:09.873Z,1761364269.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:09.876Z,1761364269.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:10.125Z,1761364270.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:10.303Z,1761364270.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467993,0.858546,-0.209479],[-0.873754,0.414001,-0.255261],[-0.132429,0.302493,0.943907]]
2025-10-25T03:51:10.377Z,1761364270.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:10.553Z,1761364270.553 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:51:10.630Z,1761364270.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:10.663Z,1761364270.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491400,0.847477,-0.200770],[-0.860688,0.437284,-0.260765],[-0.133199,0.300940,0.944295]]
2025-10-25T03:51:10.884Z,1761364270.884 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:11.065Z,1761364271.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514376,0.835670,-0.192545],[-0.846996,0.459922,-0.266589],[-0.134225,0.300212,0.944381]]
2025-10-25T03:51:11.134Z,1761364271.134 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:11.386Z,1761364271.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:11.472Z,1761364271.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536658,0.823342,-0.184678],[-0.832928,0.481878,-0.272076],[-0.135019,0.299835,0.944388]]
2025-10-25T03:51:11.637Z,1761364271.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:11.868Z,1761364271.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558285,0.810659,-0.176493],[-0.818437,0.503277,-0.277260],[-0.135939,0.299238,0.944445]]
2025-10-25T03:51:11.890Z,1761364271.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:11.918Z,1761364271.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:12.144Z,1761364272.144 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:12.332Z,1761364272.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579407,0.797475,-0.168289],[-0.803490,0.524252,-0.282071],[-0.136718,0.298652,0.944518]]
2025-10-25T03:51:12.393Z,1761364272.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:12.645Z,1761364272.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:12.898Z,1761364272.898 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:13.081Z,1761364273.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620065,0.769709,-0.151880],[-0.772177,0.564495,-0.291698],[-0.138787,0.298150,0.944375]]
2025-10-25T03:51:13.151Z,1761364273.151 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:13.402Z,1761364273.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:13.485Z,1761364273.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639704,0.755176,-0.143134],[-0.755802,0.584162,-0.295833],[-0.139793,0.297427,0.944455]]
2025-10-25T03:51:13.654Z,1761364273.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:13.889Z,1761364273.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659478,0.739487,-0.135082],[-0.738452,0.603673,-0.300446],[-0.140630,0.297889,0.944185]]
2025-10-25T03:51:13.905Z,1761364273.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:13.923Z,1761364273.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:14.157Z,1761364274.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:14.409Z,1761364274.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:14.661Z,1761364274.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:14.914Z,1761364274.914 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:15.165Z,1761364275.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:15.417Z,1761364275.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:15.504Z,1761364275.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734270,0.670903,-0.103617],[-0.663801,0.677603,-0.316580],[-0.142183,0.301236,0.942890]]
2025-10-25T03:51:15.670Z,1761364275.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:15.910Z,1761364275.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752100,0.652093,-0.095505],[-0.643451,0.695207,-0.320402],[-0.142536,0.302427,0.942455]]
2025-10-25T03:51:15.921Z,1761364275.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:15.933Z,1761364275.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:16.173Z,1761364276.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:16.425Z,1761364276.425 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:16.677Z,1761364276.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:16.722Z,1761364276.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801037,0.594711,-0.068248],[-0.581214,0.745394,-0.326462],[-0.143279,0.301175,0.942743]]
2025-10-25T03:51:16.929Z,1761364276.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:17.121Z,1761364277.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816355,0.574590,-0.058399],[-0.559335,0.761363,-0.327826],[-0.143902,0.300287,0.942931]]
2025-10-25T03:51:17.182Z,1761364277.182 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:17.433Z,1761364277.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:17.524Z,1761364277.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830733,0.554519,-0.048904],[-0.537677,0.776532,-0.328483],[-0.144175,0.299176,0.943243]]
2025-10-25T03:51:17.686Z,1761364277.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:17.929Z,1761364277.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844747,0.533735,-0.039105],[-0.515222,0.791329,-0.329157],[-0.144738,0.298202,0.943465]]
2025-10-25T03:51:17.937Z,1761364277.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:17.963Z,1761364277.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:18.190Z,1761364278.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:18.333Z,1761364278.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857713,0.513221,-0.030540],[-0.493301,0.804778,-0.330130],[-0.144852,0.298222,0.943441]]
2025-10-25T03:51:18.444Z,1761364278.444 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:18.693Z,1761364278.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:18.739Z,1761364278.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870162,0.492278,-0.021926],[-0.470898,0.817614,-0.331303],[-0.145167,0.298612,0.943270]]
2025-10-25T03:51:18.946Z,1761364278.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:19.143Z,1761364279.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882194,0.470712,-0.012811],[-0.447862,0.830344,-0.331585],[-0.145444,0.298260,0.943338]]
2025-10-25T03:51:19.198Z,1761364279.198 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:19.450Z,1761364279.450 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:19.550Z,1761364279.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893482,0.449082,-0.004014],[-0.424838,0.842282,-0.331775],[-0.145613,0.298140,0.943350]]
2025-10-25T03:51:19.702Z,1761364279.702 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:19.949Z,1761364279.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904479,0.426498,0.004159],[-0.400954,0.853553,-0.332691],[-0.145442,0.299244,0.943027]]
2025-10-25T03:51:19.954Z,1761364279.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:19.989Z,1761364279.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:20.206Z,1761364280.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:20.355Z,1761364280.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914715,0.403899,0.012711],[-0.376987,0.864250,-0.333095],[-0.145522,0.299896,0.942807]]
2025-10-25T03:51:20.460Z,1761364280.460 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:20.709Z,1761364280.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:20.759Z,1761364280.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924495,0.380607,0.021163],[-0.352383,0.874474,-0.333347],[-0.145381,0.300720,0.942567]]
2025-10-25T03:51:20.962Z,1761364280.962 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:21.162Z,1761364281.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933496,0.357358,0.029689],[-0.327893,0.884172,-0.332755],[-0.145163,0.300891,0.942546]]
2025-10-25T03:51:21.214Z,1761364281.214 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:21.466Z,1761364281.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:21.570Z,1761364281.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942015,0.333357,0.038487],[-0.302566,0.893358,-0.332212],[-0.145128,0.301304,0.942419]]
2025-10-25T03:51:21.718Z,1761364281.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:21.970Z,1761364281.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:21.975Z,1761364281.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949628,0.309748,0.047563],[-0.277758,0.902216,-0.329934],[-0.145108,0.300104,0.942805]]
2025-10-25T03:51:21.992Z,1761364281.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:22.221Z,1761364282.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:22.380Z,1761364282.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956566,0.285980,0.056546],[-0.252980,0.910730,-0.326453],[-0.144857,0.297969,0.943521]]
2025-10-25T03:51:22.476Z,1761364282.476 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:22.725Z,1761364282.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:22.782Z,1761364282.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962597,0.262908,0.065471],[-0.228925,0.918480,-0.322472],[-0.144914,0.295423,0.944312]]
2025-10-25T03:51:22.977Z,1761364282.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:23.186Z,1761364283.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967960,0.239610,0.075100],[-0.204693,0.926171,-0.316715],[-0.145444,0.291195,0.945543]]
2025-10-25T03:51:23.230Z,1761364283.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:23.484Z,1761364283.484 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:23.597Z,1761364283.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972425,0.217491,0.084183],[-0.181768,0.932965,-0.310702],[-0.146115,0.286833,0.946772]]
2025-10-25T03:51:23.735Z,1761364283.735 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:23.986Z,1761364283.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:23.997Z,1761364283.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976245,0.195203,0.094031],[-0.158692,0.939653,-0.303101],[-0.147523,0.280979,0.948308]]
2025-10-25T03:51:24.017Z,1761364284.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:24.237Z,1761364284.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:24.399Z,1761364284.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979272,0.174388,0.103033],[-0.137354,0.945584,-0.294967],[-0.148865,0.274700,0.949936]]
2025-10-25T03:51:24.492Z,1761364284.492 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:24.741Z,1761364284.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:24.800Z,1761364284.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981673,0.154204,0.111982],[-0.116642,0.950853,-0.286834],[-0.150710,0.268515,0.951413]]
2025-10-25T03:51:24.997Z,1761364284.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:25.206Z,1761364285.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983557,0.134727,0.120268],[-0.096749,0.955395,-0.279035],[-0.152497,0.262811,0.952720]]
2025-10-25T03:51:25.258Z,1761364285.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:25.511Z,1761364285.511 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:25.761Z,1761364285.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:26.014Z,1761364286.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:26.015Z,1761364286.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985837,0.098586,0.135673],[-0.059376,0.961753,-0.267406],[-0.156846,0.255563,0.953985]]
2025-10-25T03:51:26.047Z,1761364286.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:26.265Z,1761364286.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:26.415Z,1761364286.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986366,0.081744,0.142831],[-0.042292,0.964674,-0.260029],[-0.159041,0.250443,0.954979]]
2025-10-25T03:51:26.520Z,1761364286.520 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:26.770Z,1761364286.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:26.823Z,1761364286.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986653,0.064544,0.149500],[-0.024750,0.966865,-0.254086],[-0.160946,0.246995,0.955557]]
2025-10-25T03:51:27.021Z,1761364287.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:27.225Z,1761364287.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986705,0.048986,0.154964],[-0.008942,0.968413,-0.249193],[-0.162276,0.244494,0.955975]]
2025-10-25T03:51:27.273Z,1761364287.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:27.529Z,1761364287.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:27.629Z,1761364287.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986502,0.032059,0.160579],[0.008240,0.969685,-0.244219],[-0.163541,0.242245,0.956332]]
2025-10-25T03:51:27.777Z,1761364287.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:28.029Z,1761364288.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:28.034Z,1761364288.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986065,0.014884,0.165691],[0.025676,0.970438,-0.239981],[-0.164365,0.240891,0.956533]]
2025-10-25T03:51:28.052Z,1761364288.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:28.281Z,1761364288.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:28.440Z,1761364288.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985316,-0.001932,0.170732],[0.042892,0.970673,-0.236548],[-0.165268,0.240397,0.956502]]
2025-10-25T03:51:28.537Z,1761364288.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:28.786Z,1761364288.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:29.037Z,1761364289.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:29.290Z,1761364289.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:29.545Z,1761364289.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:29.652Z,1761364289.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981486,-0.050737,0.184693],[0.091113,0.971863,-0.217209],[-0.168476,0.230016,0.958493]]
2025-10-25T03:51:29.793Z,1761364289.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:30.045Z,1761364290.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:30.054Z,1761364290.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979917,-0.064278,0.188763],[0.103736,0.972767,-0.207275],[-0.170300,0.222694,0.959899]]
2025-10-25T03:51:30.083Z,1761364290.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:30.299Z,1761364290.299 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:30.462Z,1761364290.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978130,-0.077341,0.193080],[0.115986,0.973382,-0.197673],[-0.172652,0.215745,0.961065]]
2025-10-25T03:51:30.553Z,1761364290.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:30.802Z,1761364290.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:30.861Z,1761364290.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976388,-0.089148,0.196773],[0.126715,0.974064,-0.187463],[-0.174958,0.207971,0.962361]]
2025-10-25T03:51:31.053Z,1761364291.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:31.270Z,1761364291.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974680,-0.099972,0.200012],[0.136448,0.974558,-0.177814],[-0.177147,0.200603,0.963523]]
2025-10-25T03:51:31.306Z,1761364291.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:31.559Z,1761364291.559 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:31.667Z,1761364291.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973065,-0.110195,0.202489],[0.145527,0.974845,-0.168819],[-0.178792,0.193739,0.964623]]
2025-10-25T03:51:31.809Z,1761364291.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:32.062Z,1761364292.062 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:32.090Z,1761364292.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971426,-0.120175,0.204670],[0.154195,0.975113,-0.159306],[-0.180431,0.186313,0.965781]]
2025-10-25T03:51:32.123Z,1761364292.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:32.314Z,1761364292.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:32.489Z,1761364292.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969752,-0.129939,0.206634],[0.162834,0.975020,-0.151066],[-0.181843,0.180143,0.966686]]
2025-10-25T03:51:32.565Z,1761364292.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:32.818Z,1761364292.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:32.886Z,1761364292.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968156,-0.138683,0.208426],[0.170721,0.974669,-0.144483],[-0.183109,0.175464,0.967307]]
2025-10-25T03:51:33.070Z,1761364293.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:33.290Z,1761364293.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966429,-0.147411,0.210438],[0.178884,0.973964,-0.139263],[-0.184430,0.172232,0.967637]]
2025-10-25T03:51:33.322Z,1761364293.322 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:33.576Z,1761364293.576 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:33.694Z,1761364293.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962743,-0.165560,0.213813],[0.196226,0.971755,-0.131103],[-0.186069,0.168174,0.968037]]
2025-10-25T03:51:33.825Z,1761364293.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:34.078Z,1761364294.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:34.097Z,1761364294.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961217,-0.173374,0.214482],[0.203424,0.970832,-0.126899],[-0.186225,0.165609,0.968449]]
2025-10-25T03:51:34.330Z,1761364294.330 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:34.495Z,1761364294.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959770,-0.180660,0.214952],[0.209838,0.970150,-0.121561],[-0.186574,0.161776,0.969030]]
2025-10-25T03:51:34.531Z,1761364294.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:34.584Z,1761364294.584 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:34.833Z,1761364294.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:34.905Z,1761364294.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958360,-0.187760,0.215156],[0.216120,0.969366,-0.116716],[-0.186650,0.158355,0.969580]]
2025-10-25T03:51:35.086Z,1761364295.086 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:35.313Z,1761364295.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957318,-0.193111,0.215058],[0.220495,0.969005,-0.111406],[-0.186879,0.154070,0.970226]]
2025-10-25T03:51:35.338Z,1761364295.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:35.590Z,1761364295.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:35.841Z,1761364295.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:36.094Z,1761364296.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:36.112Z,1761364296.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955609,-0.202093,0.214407],[0.227644,0.968406,-0.101821],[-0.187056,0.146109,0.971423]]
2025-10-25T03:51:36.345Z,1761364296.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:36.515Z,1761364296.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954936,-0.205737,0.213939],[0.230579,0.968082,-0.098240],[-0.186899,0.143143,0.971895]]
2025-10-25T03:51:36.549Z,1761364296.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:36.599Z,1761364296.599 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:36.849Z,1761364296.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:36.931Z,1761364296.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954523,-0.208726,0.212884],[0.232796,0.967892,-0.094815],[-0.186259,0.140062,0.972466]]
2025-10-25T03:51:36.946Z,1761364296.946 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-
2025-10-25T03:51:37.102Z,1761364297.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:37.328Z,1761364297.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954151,-0.211785,0.211524],[0.235119,0.967625,-0.091765],[-0.185242,0.137292,0.973055]]
2025-10-25T03:51:37.354Z,1761364297.354 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:37.607Z,1761364297.607 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:37.738Z,1761364297.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953760,-0.214567,0.210483],[0.237465,0.967214,-0.090038],[-0.184263,0.135857,0.973442]]
2025-10-25T03:51:37.862Z,1761364297.862 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:38.109Z,1761364298.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:38.135Z,1761364298.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953301,-0.217275,0.209783],[0.239959,0.966673,-0.089233],[-0.183404,0.135405,0.973668]]
2025-10-25T03:51:38.361Z,1761364298.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:38.542Z,1761364298.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952861,-0.220194,0.208734],[0.242514,0.966162,-0.087858],[-0.182325,0.134338,0.974018]]
2025-10-25T03:51:38.558Z,1761364298.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:38.613Z,1761364298.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:38.865Z,1761364298.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:38.944Z,1761364298.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952514,-0.222929,0.207411],[0.244601,0.965877,-0.085163],[-0.181348,0.131852,0.974540]]
2025-10-25T03:51:39.118Z,1761364299.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:39.345Z,1761364299.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952347,-0.225347,0.205556],[0.246455,0.965568,-0.083297],[-0.179707,0.129988,0.975094]]
2025-10-25T03:51:39.370Z,1761364299.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:39.621Z,1761364299.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:39.748Z,1761364299.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952194,-0.227974,0.203356],[0.248457,0.965225,-0.081303],[-0.177749,0.127942,0.975723]]
2025-10-25T03:51:39.873Z,1761364299.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:40.125Z,1761364300.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:40.155Z,1761364300.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952166,-0.230158,0.201013],[0.250107,0.964916,-0.079900],[-0.175571,0.126353,0.976325]]
2025-10-25T03:51:40.378Z,1761364300.378 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:40.558Z,1761364300.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952107,-0.232534,0.198547],[0.251945,0.964552,-0.078507],[-0.173253,0.124770,0.976942]]
2025-10-25T03:51:40.587Z,1761364300.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:40.630Z,1761364300.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:40.686Z,1761364300.686 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:51:40.881Z,1761364300.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:40.965Z,1761364300.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951535,-0.236707,0.196344],[0.255656,0.963681,-0.077192],[-0.170941,0.123647,0.977492]]
2025-10-25T03:51:41.136Z,1761364301.136 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:41.365Z,1761364301.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951331,-0.239764,0.193604],[0.258113,0.963159,-0.075513],[-0.168366,0.121810,0.978169]]
2025-10-25T03:51:41.386Z,1761364301.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:41.639Z,1761364301.639 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:41.689Z,1761364301.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:51:41.776Z,1761364301.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950841,-0.243259,0.191644],[0.261381,0.962287,-0.075384],[-0.166078,0.121770,0.978565]]
2025-10-25T03:51:41.889Z,1761364301.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:42.141Z,1761364302.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:42.173Z,1761364302.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950275,-0.247210,0.189378],[0.264845,0.961456,-0.073895],[-0.163811,0.120376,0.979120]]
2025-10-25T03:51:42.393Z,1761364302.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:42.579Z,1761364302.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949558,-0.251445,0.187387],[0.268660,0.960499,-0.072553],[-0.161742,0.119237,0.979603]]
2025-10-25T03:51:42.596Z,1761364302.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:42.646Z,1761364302.646 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:42.897Z,1761364302.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:43.149Z,1761364303.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:43.388Z,1761364303.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948070,-0.260178,0.182948],[0.276570,0.958425,-0.070220],[-0.157072,0.117171,0.980612]]
2025-10-25T03:51:43.402Z,1761364303.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:43.654Z,1761364303.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:43.808Z,1761364303.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947216,-0.264769,0.180776],[0.280707,0.957332,-0.068696],[-0.154874,0.115815,0.981122]]
2025-10-25T03:51:43.907Z,1761364303.907 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:44.157Z,1761364304.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:44.193Z,1761364304.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946412,-0.268710,0.179164],[0.284388,0.956295,-0.067994],[-0.153063,0.115302,0.981467]]
2025-10-25T03:51:44.410Z,1761364304.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:44.598Z,1761364304.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945559,-0.272889,0.177341],[0.288220,0.955226,-0.066870],[-0.151153,0.114342,0.981875]]
2025-10-25T03:51:44.656Z,1761364304.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:44.661Z,1761364304.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:44.913Z,1761364304.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:45.023Z,1761364305.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945018,-0.276153,0.175158],[0.291043,0.954470,-0.065433],[-0.149113,0.112814,0.982364]]
2025-10-25T03:51:45.166Z,1761364305.166 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:45.418Z,1761364305.418 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:45.670Z,1761364305.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:45.850Z,1761364305.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943412,-0.283447,0.172139],[0.298066,0.952296,-0.065490],[-0.145364,0.113093,0.982893]]
2025-10-25T03:51:45.921Z,1761364305.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:46.173Z,1761364306.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:46.241Z,1761364306.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942794,-0.286908,0.169773],[0.301125,0.951408,-0.064393],[-0.143049,0.111832,0.983377]]
2025-10-25T03:51:46.426Z,1761364306.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:46.677Z,1761364306.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:46.687Z,1761364306.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942663,-0.289316,0.166381],[0.303068,0.950837,-0.063702],[-0.139772,0.110474,0.984002]]
2025-10-25T03:51:46.703Z,1761364306.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:46.929Z,1761364306.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:47.049Z,1761364307.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942790,-0.290957,0.162763],[0.304137,0.950582,-0.062413],[-0.136560,0.108344,0.984689]]
2025-10-25T03:51:47.182Z,1761364307.182 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:47.434Z,1761364307.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:47.685Z,1761364307.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:47.875Z,1761364307.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944523,-0.290706,0.152860],[0.302240,0.951461,-0.058078],[-0.128556,0.101056,0.986540]]
2025-10-25T03:51:47.937Z,1761364307.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:48.189Z,1761364308.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:48.262Z,1761364308.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945741,-0.289454,0.147618],[0.300162,0.952253,-0.055837],[-0.124407,0.097116,0.987467]]
2025-10-25T03:51:48.441Z,1761364308.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:48.671Z,1761364308.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947509,-0.286503,0.141922],[0.296278,0.953636,-0.052898],[-0.120187,0.092169,0.988463]]
2025-10-25T03:51:48.694Z,1761364308.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:48.720Z,1761364308.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:48.945Z,1761364308.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:49.068Z,1761364309.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949123,-0.283773,0.136524],[0.292871,0.954762,-0.051531],[-0.115725,0.088893,0.989296]]
2025-10-25T03:51:49.197Z,1761364309.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:49.449Z,1761364309.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:49.478Z,1761364309.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952859,-0.275606,0.126891],[0.283768,0.957528,-0.051154],[-0.107403,0.084750,0.990597]]
2025-10-25T03:51:49.703Z,1761364309.703 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:49.900Z,1761364309.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954934,-0.270835,0.121450],[0.278611,0.958990,-0.052098],[-0.102359,0.083587,0.991229]]
2025-10-25T03:51:49.953Z,1761364309.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:50.205Z,1761364310.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:50.281Z,1761364310.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957125,-0.265462,0.115940],[0.272834,0.960607,-0.052882],[-0.097335,0.082247,0.991847]]
2025-10-25T03:51:50.458Z,1761364310.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:50.686Z,1761364310.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959295,-0.260060,0.110097],[0.267019,0.962188,-0.053804],[-0.091942,0.081012,0.992464]]
2025-10-25T03:51:50.709Z,1761364310.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:50.961Z,1761364310.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:51.088Z,1761364311.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961639,-0.253839,0.104001],[0.260346,0.963979,-0.054453],[-0.086432,0.079441,0.993085]]
2025-10-25T03:51:51.153Z,1761364311.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:51.213Z,1761364311.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:51.466Z,1761364311.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:51.496Z,1761364311.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963639,-0.248344,0.098616],[0.254489,0.965488,-0.055388],[-0.081457,0.078470,0.993583]]
2025-10-25T03:51:51.718Z,1761364311.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:51.926Z,1761364311.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965744,-0.242344,0.092780],[0.248040,0.967153,-0.055599],[-0.076258,0.076708,0.994133]]
2025-10-25T03:51:51.970Z,1761364311.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:52.221Z,1761364312.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:52.306Z,1761364312.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967513,-0.237254,0.087342],[0.242621,0.968451,-0.056905],[-0.071085,0.076247,0.994552]]
2025-10-25T03:51:52.473Z,1761364312.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:52.710Z,1761364312.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969289,-0.231860,0.081975],[0.236906,0.969783,-0.058271],[-0.065987,0.075902,0.994929]]
2025-10-25T03:51:52.725Z,1761364312.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:52.977Z,1761364312.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:53.108Z,1761364313.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970782,-0.227357,0.076755],[0.232049,0.970916,-0.058945],[-0.061121,0.075034,0.995306]]
2025-10-25T03:51:53.154Z,1761364313.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:53.229Z,1761364313.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:53.481Z,1761364313.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:53.523Z,1761364313.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972299,-0.222472,0.071697],[0.226826,0.972108,-0.059628],[-0.056432,0.074239,0.995642]]
2025-10-25T03:51:53.733Z,1761364313.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:53.944Z,1761364313.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973373,-0.219122,0.067306],[0.223245,0.972826,-0.061409],[-0.052021,0.074800,0.995841]]
2025-10-25T03:51:53.986Z,1761364313.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:54.238Z,1761364314.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:54.326Z,1761364314.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974533,-0.215327,0.062614],[0.219121,0.973740,-0.061776],[-0.047667,0.073923,0.996124]]
2025-10-25T03:51:54.489Z,1761364314.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:54.742Z,1761364314.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:54.993Z,1761364314.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:55.129Z,1761364315.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976360,-0.209248,0.054181],[0.212478,0.975138,-0.062920],[-0.039668,0.072945,0.996547]]
2025-10-25T03:51:55.180Z,1761364315.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:55.246Z,1761364315.246 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:55.497Z,1761364315.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:55.533Z,1761364315.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977178,-0.206393,0.050242],[0.209359,0.975779,-0.063439],[-0.035932,0.072510,0.996720]]
2025-10-25T03:51:55.750Z,1761364315.750 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:56.002Z,1761364316.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:56.253Z,1761364316.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:56.342Z,1761364316.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978485,-0.201789,0.042990],[0.204264,0.976807,-0.064217],[-0.029034,0.071617,0.997010]]
2025-10-25T03:51:56.506Z,1761364316.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:56.745Z,1761364316.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979077,-0.199592,0.039645],[0.201843,0.977283,-0.064637],[-0.025844,0.071287,0.997121]]
2025-10-25T03:51:56.757Z,1761364316.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:57.010Z,1761364317.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:57.207Z,1761364317.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:57.262Z,1761364317.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:57.513Z,1761364317.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:57.557Z,1761364317.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980698,-0.192737,0.032911],[0.194467,0.978965,-0.061722],[-0.020323,0.066931,0.997551]]
2025-10-25T03:51:57.765Z,1761364317.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:58.023Z,1761364318.023 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:58.273Z,1761364318.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:58.361Z,1761364318.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982786,-0.182874,0.026258],[0.184116,0.981231,-0.057337],[-0.015279,0.061184,0.998010]]
2025-10-25T03:51:58.525Z,1761364318.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:58.766Z,1761364318.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984114,-0.176111,0.022461],[0.177102,0.982668,-0.054755],[-0.012429,0.057863,0.998247]]
2025-10-25T03:51:58.777Z,1761364318.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:59.031Z,1761364319.031 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:59.175Z,1761364319.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985392,-0.169222,0.019138],[0.170004,0.984076,-0.051889],[-0.010053,0.054385,0.998469]]
2025-10-25T03:51:59.212Z,1761364319.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:51:59.281Z,1761364319.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:59.533Z,1761364319.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:51:59.572Z,1761364319.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986770,-0.161344,0.015931],[0.161947,0.985541,-0.049822],[-0.007662,0.051743,0.998631]]
2025-10-25T03:51:59.787Z,1761364319.787 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:00.026Z,1761364320.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988079,-0.153392,0.013059],[0.153847,0.986931,-0.047933],[-0.005536,0.049370,0.998765]]
2025-10-25T03:52:00.037Z,1761364320.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:00.290Z,1761364320.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:00.381Z,1761364320.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989479,-0.144326,0.010029],[0.144635,0.988445,-0.045356],[-0.003367,0.046329,0.998921]]
2025-10-25T03:52:00.541Z,1761364320.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:00.788Z,1761364320.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990741,-0.135568,0.007366],[0.135762,0.989758,-0.044138],[-0.001306,0.044729,0.998998]]
2025-10-25T03:52:00.794Z,1761364320.794 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:01.048Z,1761364321.048 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:01.189Z,1761364321.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991889,-0.127015,0.004924],[0.127109,0.990921,-0.043812],[0.000685,0.044082,0.999028]]
2025-10-25T03:52:01.253Z,1761364321.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:01.298Z,1761364321.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:01.549Z,1761364321.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:01.593Z,1761364321.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993082,-0.117400,0.002448],[0.117392,0.992091,-0.044432],[0.002788,0.044412,0.999009]]
2025-10-25T03:52:01.802Z,1761364321.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:02.028Z,1761364322.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994105,-0.108421,0.000353],[0.108325,0.993079,-0.045379],[0.004569,0.045149,0.998970]]
2025-10-25T03:52:02.056Z,1761364322.056 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:02.306Z,1761364322.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:02.400Z,1761364322.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995106,-0.098784,-0.002364],[0.098573,0.994078,-0.045745],[0.006869,0.045288,0.998950]]
2025-10-25T03:52:02.558Z,1761364322.558 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:02.805Z,1761364322.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995955,-0.089730,-0.004701],[0.089410,0.994875,-0.047224],[0.008915,0.046613,0.998873]]
2025-10-25T03:52:02.809Z,1761364322.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:03.064Z,1761364323.064 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:03.209Z,1761364323.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996759,-0.080086,-0.007654],[0.079625,0.995645,-0.048481],[0.011503,0.047714,0.998795]]
2025-10-25T03:52:03.265Z,1761364323.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:03.314Z,1761364323.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:03.565Z,1761364323.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:03.616Z,1761364323.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997423,-0.070916,-0.010891],[0.070312,0.996352,-0.048365],[0.014282,0.047475,0.998770]]
2025-10-25T03:52:03.818Z,1761364323.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:04.045Z,1761364324.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998018,-0.061235,-0.014478],[0.060464,0.996978,-0.048786],[0.017422,0.047813,0.998704]]
2025-10-25T03:52:04.072Z,1761364324.072 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:04.321Z,1761364324.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:04.573Z,1761364324.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:04.825Z,1761364324.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:04.831Z,1761364324.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.042370,-0.022019],[0.041298,0.998038,-0.047057],[0.023970,0.046094,0.998650]]
2025-10-25T03:52:05.079Z,1761364325.079 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:05.228Z,1761364325.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999131,-0.032886,-0.025624],[0.031660,0.998400,-0.046848],[0.027124,0.045996,0.998573]]
2025-10-25T03:52:05.294Z,1761364325.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:05.329Z,1761364325.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:05.581Z,1761364325.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:05.632Z,1761364325.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,-0.024137,-0.029415],[0.022739,0.998638,-0.046950],[0.030508,0.046247,0.998464]]
2025-10-25T03:52:05.833Z,1761364325.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:06.054Z,1761364326.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999338,-0.015163,-0.033080],[0.013586,0.998784,-0.047390],[0.033758,0.046909,0.998329]]
2025-10-25T03:52:06.088Z,1761364326.088 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:06.337Z,1761364326.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:06.441Z,1761364326.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999307,-0.007264,-0.036500],[0.005520,0.998849,-0.047638],[0.036804,0.047404,0.998198]]
2025-10-25T03:52:06.590Z,1761364326.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:06.843Z,1761364326.843 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:06.853Z,1761364326.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999022,0.009999,-0.043077],[-0.012029,0.998817,-0.047114],[0.042555,0.047586,0.997960]]
2025-10-25T03:52:07.095Z,1761364327.095 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:07.254Z,1761364327.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998767,0.018388,-0.046104],[-0.020489,0.998754,-0.045504],[0.045209,0.046393,0.997900]]
2025-10-25T03:52:07.310Z,1761364327.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:07.345Z,1761364327.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:07.597Z,1761364327.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:07.653Z,1761364327.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998483,0.025640,-0.048719],[-0.027852,0.998586,-0.045276],[0.047490,0.046564,0.997786]]
2025-10-25T03:52:07.849Z,1761364327.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:08.055Z,1761364328.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998124,0.033023,-0.051562],[-0.035339,0.998377,-0.044655],[0.050004,0.046393,0.997671]]
2025-10-25T03:52:08.104Z,1761364328.104 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:08.353Z,1761364328.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:08.464Z,1761364328.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997708,0.040627,-0.054103],[-0.043028,0.998106,-0.043973],[0.052214,0.046200,0.997567]]
2025-10-25T03:52:08.605Z,1761364328.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:08.857Z,1761364328.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:09.109Z,1761364329.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:09.267Z,1761364329.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996715,0.055577,-0.058908],[-0.058138,0.997395,-0.042706],[0.056382,0.045990,0.997349]]
2025-10-25T03:52:09.332Z,1761364329.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:09.361Z,1761364329.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:09.613Z,1761364329.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:09.865Z,1761364329.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:10.078Z,1761364330.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995491,0.070768,-0.063167],[-0.073473,0.996430,-0.041578],[0.059999,0.046031,0.997136]]
2025-10-25T03:52:10.120Z,1761364330.120 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:10.370Z,1761364330.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:10.486Z,1761364330.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994844,0.077806,-0.065052],[-0.080552,0.995919,-0.040712],[0.061619,0.045742,0.997051]]
2025-10-25T03:52:10.621Z,1761364330.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:10.875Z,1761364330.875 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:10.886Z,1761364330.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994055,0.085754,-0.067084],[-0.088531,0.995287,-0.039576],[0.063373,0.045280,0.996962]]
2025-10-25T03:52:11.128Z,1761364331.128 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:11.297Z,1761364331.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993229,0.093461,-0.068994],[-0.096291,0.994593,-0.038895],[0.064986,0.045275,0.996859]]
2025-10-25T03:52:11.350Z,1761364331.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:11.377Z,1761364331.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:11.630Z,1761364331.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:11.696Z,1761364331.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992352,0.100920,-0.071078],[-0.103752,0.993902,-0.037334],[0.066877,0.044423,0.996772]]
2025-10-25T03:52:11.817Z,1761364331.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:52:11.881Z,1761364331.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:12.097Z,1761364332.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991284,0.109646,-0.073034],[-0.112508,0.992987,-0.036300],[0.068541,0.044200,0.996669]]
2025-10-25T03:52:12.133Z,1761364332.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:12.386Z,1761364332.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:12.500Z,1761364332.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990175,0.117838,-0.075289],[-0.120813,0.992013,-0.036253],[0.070416,0.044993,0.996502]]
2025-10-25T03:52:12.637Z,1761364332.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:12.821Z,1761364332.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:52:12.889Z,1761364332.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:13.141Z,1761364333.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:13.322Z,1761364333.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987849,0.133757,-0.079142],[-0.136935,0.989920,-0.036166],[0.073506,0.046564,0.996207]]
2025-10-25T03:52:13.379Z,1761364333.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:13.393Z,1761364333.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:13.645Z,1761364333.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:13.713Z,1761364333.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986498,0.142229,-0.081191],[-0.145439,0.988745,-0.035069],[0.075289,0.046404,0.996081]]
2025-10-25T03:52:13.897Z,1761364333.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:14.116Z,1761364334.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985016,0.150890,-0.083518],[-0.154141,0.987467,-0.033910],[0.077354,0.046275,0.995929]]
2025-10-25T03:52:14.149Z,1761364334.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:14.402Z,1761364334.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:14.521Z,1761364334.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983519,0.159203,-0.085704],[-0.162530,0.986141,-0.033302],[0.079215,0.046683,0.995764]]
2025-10-25T03:52:14.654Z,1761364334.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:14.905Z,1761364334.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:14.928Z,1761364334.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982054,0.167037,-0.087570],[-0.170456,0.984810,-0.033085],[0.080713,0.047419,0.995609]]
2025-10-25T03:52:15.157Z,1761364335.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:15.335Z,1761364335.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980635,0.174085,-0.089719],[-0.177675,0.983514,-0.033647],[0.082383,0.048936,0.995399]]
2025-10-25T03:52:15.394Z,1761364335.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:15.409Z,1761364335.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:15.661Z,1761364335.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:15.735Z,1761364335.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979045,0.181930,-0.091498],[-0.185640,0.982038,-0.033741],[0.083717,0.050019,0.995233]]
2025-10-25T03:52:15.913Z,1761364335.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:16.138Z,1761364336.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977557,0.189031,-0.093005],[-0.192756,0.980700,-0.032760],[0.085017,0.049952,0.995127]]
2025-10-25T03:52:16.165Z,1761364336.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:16.418Z,1761364336.418 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:16.540Z,1761364336.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975900,0.196681,-0.094531],[-0.200379,0.979219,-0.031271],[0.086416,0.049459,0.995031]]
2025-10-25T03:52:16.670Z,1761364336.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:16.921Z,1761364336.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:16.946Z,1761364336.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974493,0.202875,-0.095940],[-0.206674,0.977907,-0.031366],[0.087457,0.050394,0.994893]]
2025-10-25T03:52:17.173Z,1761364337.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:17.349Z,1761364337.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972950,0.209501,-0.097353],[-0.213359,0.976483,-0.030955],[0.088579,0.050888,0.994768]]
2025-10-25T03:52:17.434Z,1761364337.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:17.459Z,1761364337.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:17.686Z,1761364337.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:17.754Z,1761364337.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971524,0.215471,-0.098555],[-0.219352,0.975176,-0.030267],[0.089587,0.051023,0.994671]]
2025-10-25T03:52:17.937Z,1761364337.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:18.159Z,1761364338.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970086,0.221331,-0.099728],[-0.225255,0.973843,-0.029832],[0.090516,0.051404,0.994567]]
2025-10-25T03:52:18.189Z,1761364338.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:18.441Z,1761364338.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:18.693Z,1761364338.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:18.945Z,1761364338.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:18.965Z,1761364338.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967098,0.233035,-0.102063],[-0.236985,0.971101,-0.028285],[0.092522,0.051542,0.994376]]
2025-10-25T03:52:19.197Z,1761364339.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:19.373Z,1761364339.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965672,0.238567,-0.102778],[-0.242491,0.969768,-0.027363],[0.093143,0.051347,0.994328]]
2025-10-25T03:52:19.451Z,1761364339.451 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:19.702Z,1761364339.702 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:19.788Z,1761364339.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963878,0.245224,-0.103949],[-0.249146,0.968107,-0.026389],[0.094162,0.051334,0.994232]]
2025-10-25T03:52:19.805Z,1761364339.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:19.953Z,1761364339.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:20.177Z,1761364340.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962175,0.251365,-0.105045],[-0.255341,0.966500,-0.026065],[0.094975,0.051901,0.994126]]
2025-10-25T03:52:20.205Z,1761364340.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:20.457Z,1761364340.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:20.710Z,1761364340.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:20.961Z,1761364340.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:20.989Z,1761364340.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958226,0.265253,-0.106979],[-0.269282,0.962739,-0.024898],[0.096389,0.052666,0.993949]]
2025-10-25T03:52:21.213Z,1761364341.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:21.389Z,1761364341.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956042,0.272784,-0.107571],[-0.276707,0.960676,-0.023112],[0.097037,0.051862,0.993929]]
2025-10-25T03:52:21.466Z,1761364341.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:21.718Z,1761364341.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:21.801Z,1761364341.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953971,0.279546,-0.108594],[-0.283605,0.958650,-0.023620],[0.097501,0.053331,0.993806]]
2025-10-25T03:52:21.845Z,1761364341.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:21.970Z,1761364341.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:22.221Z,1761364342.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:22.473Z,1761364342.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:22.600Z,1761364342.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949563,0.293432,-0.110578],[-0.297622,0.954403,-0.023138],[0.098746,0.054881,0.993598]]
2025-10-25T03:52:22.726Z,1761364342.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:22.978Z,1761364342.978 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:23.005Z,1761364343.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947400,0.299981,-0.111559],[-0.304251,0.952313,-0.023053],[0.099323,0.055783,0.993490]]
2025-10-25T03:52:23.230Z,1761364343.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:23.411Z,1761364343.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945155,0.306493,-0.112889],[-0.310903,0.950155,-0.023354],[0.100104,0.057171,0.993333]]
2025-10-25T03:52:23.483Z,1761364343.483 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:23.733Z,1761364343.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:23.831Z,1761364343.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940834,0.318748,-0.115028],[-0.323231,0.946060,-0.022189],[0.101750,0.058057,0.993114]]
2025-10-25T03:52:23.848Z,1761364343.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:23.986Z,1761364343.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:24.229Z,1761364344.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938827,0.324189,-0.116212],[-0.328836,0.944112,-0.022800],[0.102325,0.059619,0.992963]]
2025-10-25T03:52:24.238Z,1761364344.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:24.491Z,1761364344.491 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:24.625Z,1761364344.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936605,0.330262,-0.117041],[-0.334851,0.942027,-0.021425],[0.103180,0.059259,0.992896]]
2025-10-25T03:52:24.741Z,1761364344.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:24.993Z,1761364344.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:25.031Z,1761364345.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934762,0.335175,-0.117800],[-0.339769,0.940280,-0.020750],[0.103810,0.059421,0.992821]]
2025-10-25T03:52:25.245Z,1761364345.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:25.499Z,1761364345.499 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:25.749Z,1761364345.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:25.837Z,1761364345.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931319,0.343752,-0.120330],[-0.348486,0.937098,-0.020132],[0.105840,0.060683,0.992530]]
2025-10-25T03:52:25.855Z,1761364345.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:26.002Z,1761364346.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:26.248Z,1761364346.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930140,0.346375,-0.121918],[-0.351420,0.935961,-0.021948],[0.106508,0.063259,0.992297]]
2025-10-25T03:52:26.253Z,1761364346.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:26.506Z,1761364346.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:26.646Z,1761364346.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928792,0.349500,-0.123270],[-0.354785,0.934661,-0.023182],[0.107113,0.065265,0.992102]]
2025-10-25T03:52:26.758Z,1761364346.758 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:27.009Z,1761364347.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:27.049Z,1761364347.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927734,0.351795,-0.124702],[-0.357358,0.933640,-0.024722],[0.107730,0.067499,0.991886]]
2025-10-25T03:52:27.261Z,1761364347.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:27.462Z,1761364347.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926181,0.355488,-0.125762],[-0.361150,0.932179,-0.024742],[0.108437,0.068335,0.991752]]
2025-10-25T03:52:27.513Z,1761364347.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:27.765Z,1761364347.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:27.865Z,1761364347.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924969,0.358220,-0.126929],[-0.364099,0.931002,-0.025812],[0.108925,0.070090,0.991576]]
2025-10-25T03:52:27.906Z,1761364347.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:28.018Z,1761364348.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:28.262Z,1761364348.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923706,0.361213,-0.127644],[-0.367101,0.929838,-0.025260],[0.109564,0.070191,0.991498]]
2025-10-25T03:52:28.270Z,1761364348.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:28.521Z,1761364348.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:28.664Z,1761364348.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922381,0.364477,-0.127942],[-0.370222,0.928644,-0.023581],[0.110218,0.069117,0.991501]]
2025-10-25T03:52:28.774Z,1761364348.774 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:29.025Z,1761364349.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:29.068Z,1761364349.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920859,0.368030,-0.128734],[-0.373754,0.927251,-0.022671],[0.111025,0.068992,0.991420]]
2025-10-25T03:52:29.277Z,1761364349.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:29.490Z,1761364349.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919443,0.371385,-0.129221],[-0.377036,0.925949,-0.021514],[0.111662,0.068502,0.991382]]
2025-10-25T03:52:29.531Z,1761364349.531 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:29.781Z,1761364349.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:29.911Z,1761364349.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:30.033Z,1761364350.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:30.281Z,1761364350.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916033,0.378937,-0.131495],[-0.384797,0.922752,-0.021455],[0.113207,0.070253,0.991085]]
2025-10-25T03:52:30.286Z,1761364350.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:30.537Z,1761364350.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:30.686Z,1761364350.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914651,0.382007,-0.132229],[-0.387879,0.921473,-0.020902],[0.113861,0.070407,0.990999]]
2025-10-25T03:52:30.789Z,1761364350.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:31.042Z,1761364351.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:31.092Z,1761364351.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912592,0.386738,-0.132703],[-0.392435,0.919588,-0.018791],[0.114765,0.069225,0.990978]]
2025-10-25T03:52:31.294Z,1761364351.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:31.518Z,1761364351.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910903,0.390361,-0.133697],[-0.396071,0.918042,-0.018061],[0.115689,0.069406,0.990858]]
2025-10-25T03:52:31.545Z,1761364351.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:31.797Z,1761364351.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:31.899Z,1761364351.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909113,0.394158,-0.134735],[-0.399913,0.916385,-0.017555],[0.116550,0.069842,0.990726]]
2025-10-25T03:52:31.936Z,1761364351.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:32.049Z,1761364352.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:32.302Z,1761364352.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:32.309Z,1761364352.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907349,0.397759,-0.136034],[-0.403576,0.914787,-0.017051],[0.117660,0.070371,0.990557]]
2025-10-25T03:52:32.554Z,1761364352.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:32.707Z,1761364352.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905673,0.401184,-0.137143],[-0.407052,0.913255,-0.016570],[0.118599,0.070831,0.990413]]
2025-10-25T03:52:32.806Z,1761364352.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:33.057Z,1761364353.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:33.108Z,1761364353.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903829,0.404943,-0.138252],[-0.410892,0.911538,-0.016313],[0.119416,0.071551,0.990263]]
2025-10-25T03:52:33.310Z,1761364353.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:33.548Z,1761364353.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902252,0.407947,-0.139715],[-0.414109,0.910069,-0.016967],[0.120228,0.073166,0.990046]]
2025-10-25T03:52:33.561Z,1761364353.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:33.813Z,1761364353.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:33.957Z,1761364353.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:34.065Z,1761364354.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:34.318Z,1761364354.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:34.327Z,1761364354.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898642,0.415320,-0.141254],[-0.421435,0.906732,-0.015120],[0.121800,0.073117,0.989858]]
2025-10-25T03:52:34.569Z,1761364354.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:34.724Z,1761364354.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896712,0.419246,-0.141914],[-0.425314,0.904937,-0.014039],[0.122537,0.072947,0.989779]]
2025-10-25T03:52:34.821Z,1761364354.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:35.073Z,1761364355.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:35.131Z,1761364355.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895159,0.422310,-0.142630],[-0.428397,0.903489,-0.013540],[0.123147,0.073223,0.989683]]
2025-10-25T03:52:35.325Z,1761364355.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:35.576Z,1761364355.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893655,0.425221,-0.143413],[-0.431347,0.902090,-0.013165],[0.123773,0.073626,0.989575]]
2025-10-25T03:52:35.577Z,1761364355.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:35.829Z,1761364355.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:35.936Z,1761364355.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892448,0.427261,-0.144858],[-0.433677,0.900953,-0.014442],[0.124339,0.075710,0.989347]]
2025-10-25T03:52:35.969Z,1761364355.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:36.081Z,1761364356.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:36.334Z,1761364356.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:36.344Z,1761364356.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890990,0.429984,-0.145777],[-0.436464,0.899610,-0.014180],[0.125045,0.076260,0.989216]]
2025-10-25T03:52:36.587Z,1761364356.587 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:36.747Z,1761364356.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889895,0.431802,-0.147085],[-0.438544,0.898580,-0.015290],[0.125565,0.078110,0.989006]]
2025-10-25T03:52:36.837Z,1761364356.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:37.089Z,1761364357.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:37.149Z,1761364357.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888737,0.433887,-0.147946],[-0.440687,0.897534,-0.015055],[0.126255,0.078578,0.988881]]
2025-10-25T03:52:37.341Z,1761364357.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:37.595Z,1761364357.595 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:37.615Z,1761364357.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887474,0.436515,-0.147799],[-0.443131,0.896356,-0.013494],[0.126590,0.077470,0.988925]]
2025-10-25T03:52:37.846Z,1761364357.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:37.970Z,1761364357.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886644,0.438288,-0.147533],[-0.444747,0.895572,-0.012296],[0.126737,0.076517,0.988981]]
2025-10-25T03:52:37.995Z,1761364357.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:38.097Z,1761364358.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:38.353Z,1761364358.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:38.362Z,1761364358.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885334,0.440863,-0.147726],[-0.447260,0.894330,-0.011490],[0.127051,0.076244,0.988962]]
2025-10-25T03:52:38.606Z,1761364358.606 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:38.766Z,1761364358.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884390,0.442403,-0.148775],[-0.449052,0.893416,-0.012682],[0.127307,0.078023,0.988790]]
2025-10-25T03:52:38.857Z,1761364358.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:39.109Z,1761364359.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:39.169Z,1761364359.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883424,0.444121,-0.149395],[-0.450898,0.892479,-0.013158],[0.127488,0.078986,0.988690]]
2025-10-25T03:52:39.361Z,1761364359.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:39.616Z,1761364359.616 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:39.635Z,1761364359.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882264,0.445978,-0.150710],[-0.453097,0.891338,-0.014821],[0.127723,0.081362,0.988467]]
2025-10-25T03:52:39.865Z,1761364359.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:40.021Z,1761364360.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:40.118Z,1761364360.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:40.374Z,1761364360.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:40.382Z,1761364360.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881550,0.447293,-0.150991],[-0.454446,0.890651,-0.014802],[0.127859,0.081666,0.988424]]
2025-10-25T03:52:40.627Z,1761364360.627 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:40.799Z,1761364360.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880107,0.449847,-0.151817],[-0.457070,0.889311,-0.014599],[0.128445,0.082240,0.988301]]
2025-10-25T03:52:40.877Z,1761364360.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:41.129Z,1761364361.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:41.192Z,1761364361.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879936,0.450070,-0.152149],[-0.457486,0.889076,-0.015852],[0.128137,0.083555,0.988230]]
2025-10-25T03:52:41.381Z,1761364361.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:41.636Z,1761364361.636 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:41.639Z,1761364361.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879181,0.451747,-0.151546],[-0.458963,0.888336,-0.014571],[0.128042,0.082364,0.988343]]
2025-10-25T03:52:41.886Z,1761364361.886 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:41.996Z,1761364361.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878325,0.453342,-0.151742],[-0.460519,0.887539,-0.014011],[0.128325,0.082186,0.988321]]
2025-10-25T03:52:42.061Z,1761364362.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:42.137Z,1761364362.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:42.389Z,1761364362.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:42.643Z,1761364362.643 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:42.813Z,1761364362.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876836,0.456031,-0.152297],[-0.463285,0.886098,-0.014035],[0.128550,0.082863,0.988235]]
2025-10-25T03:52:42.893Z,1761364362.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:42.941Z,1761364362.941 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:52:43.146Z,1761364363.146 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:43.210Z,1761364363.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875972,0.457490,-0.152891],[-0.464860,0.885267,-0.014414],[0.128755,0.083699,0.988138]]
2025-10-25T03:52:43.397Z,1761364363.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:43.617Z,1761364363.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875018,0.459181,-0.153283],[-0.466588,0.884359,-0.014300],[0.128991,0.084033,0.988079]]
2025-10-25T03:52:43.651Z,1761364363.651 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:43.902Z,1761364363.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:43.946Z,1761364363.946 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:52:44.017Z,1761364364.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874097,0.460774,-0.153761],[-0.468225,0.883495,-0.014197],[0.129306,0.084404,0.988006]]
2025-10-25T03:52:44.066Z,1761364364.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:44.153Z,1761364364.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:44.405Z,1761364364.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:44.421Z,1761364364.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872736,0.463445,-0.153463],[-0.470634,0.882245,-0.012163],[0.129755,0.082840,0.988079]]
2025-10-25T03:52:44.659Z,1761364364.659 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:44.842Z,1761364364.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871458,0.465808,-0.153572],[-0.472891,0.881051,-0.011090],[0.130139,0.082287,0.988075]]
2025-10-25T03:52:44.909Z,1761364364.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:45.161Z,1761364365.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:45.414Z,1761364365.414 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:45.637Z,1761364365.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868976,0.470172,-0.154331],[-0.477207,0.878736,-0.009876],[0.130972,0.082230,0.987970]]
2025-10-25T03:52:45.668Z,1761364365.668 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:45.919Z,1761364365.919 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:46.039Z,1761364366.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867620,0.472376,-0.155227],[-0.479536,0.877465,-0.010058],[0.131455,0.083164,0.987828]]
2025-10-25T03:52:46.076Z,1761364366.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:46.169Z,1761364366.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:46.421Z,1761364366.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:46.442Z,1761364366.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866392,0.474315,-0.156177],[-0.481609,0.876326,-0.010294],[0.131979,0.084135,0.987675]]
2025-10-25T03:52:46.675Z,1761364366.675 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:46.846Z,1761364366.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865093,0.476453,-0.156864],[-0.483792,0.875126,-0.010001],[0.132511,0.084541,0.987569]]
2025-10-25T03:52:46.925Z,1761364366.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:47.177Z,1761364367.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:47.250Z,1761364367.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863843,0.478637,-0.157102],[-0.485999,0.873904,-0.009828],[0.132588,0.084841,0.987534]]
2025-10-25T03:52:47.429Z,1761364367.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:47.662Z,1761364367.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862901,0.480241,-0.157384],[-0.487618,0.873004,-0.009614],[0.132780,0.085039,0.987491]]
2025-10-25T03:52:47.685Z,1761364367.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:47.934Z,1761364367.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:48.057Z,1761364368.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861430,0.482798,-0.157620],[-0.490142,0.871596,-0.008991],[0.133040,0.085001,0.987459]]
2025-10-25T03:52:48.105Z,1761364368.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:48.186Z,1761364368.186 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:48.437Z,1761364368.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:48.461Z,1761364368.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860469,0.484239,-0.158444],[-0.491695,0.870719,-0.009167],[0.133521,0.085794,0.987325]]
2025-10-25T03:52:48.693Z,1761364368.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:48.941Z,1761364368.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:49.193Z,1761364369.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:49.271Z,1761364369.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858356,0.487995,-0.158389],[-0.495299,0.868688,-0.007747],[0.133810,0.085100,0.987346]]
2025-10-25T03:52:49.445Z,1761364369.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:49.674Z,1761364369.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857630,0.489369,-0.158078],[-0.496724,0.867870,-0.008197],[0.133180,0.085551,0.987393]]
2025-10-25T03:52:49.698Z,1761364369.698 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:49.949Z,1761364369.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:50.079Z,1761364370.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857030,0.490574,-0.157598],[-0.497982,0.867143,-0.008805],[0.132341,0.086027,0.987464]]
2025-10-25T03:52:50.166Z,1761364370.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:50.202Z,1761364370.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:50.453Z,1761364370.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:50.541Z,1761364370.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856695,0.491047,-0.157942],[-0.498774,0.866663,-0.010923],[0.131519,0.088135,0.987388]]
2025-10-25T03:52:50.706Z,1761364370.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:50.951Z,1761364370.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856353,0.491920,-0.157083],[-0.499668,0.866139,-0.011597],[0.130351,0.088420,0.987517]]
2025-10-25T03:52:50.957Z,1761364370.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:51.209Z,1761364371.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:51.346Z,1761364371.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856256,0.492237,-0.156618],[-0.500129,0.865854,-0.012978],[0.129220,0.089441,0.987574]]
2025-10-25T03:52:51.461Z,1761364371.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:51.713Z,1761364371.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:51.806Z,1761364371.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856453,0.491927,-0.156512],[-0.500135,0.865808,-0.015512],[0.127878,0.091562,0.987554]]
2025-10-25T03:52:51.966Z,1761364371.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:52.202Z,1761364372.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:52.219Z,1761364372.219 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:52.469Z,1761364372.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:52.557Z,1761364372.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857213,0.490751,-0.156043],[-0.499221,0.866288,-0.017987],[0.126351,0.093318,0.987586]]
2025-10-25T03:52:52.722Z,1761364372.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:52.970Z,1761364372.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857995,0.489446,-0.155846],[-0.498050,0.866933,-0.019300],[0.125662,0.094178,0.987593]]
2025-10-25T03:52:52.975Z,1761364372.975 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:53.225Z,1761364373.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:53.364Z,1761364373.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858873,0.487987,-0.155582],[-0.496769,0.867629,-0.021019],[0.124731,0.095341,0.987599]]
2025-10-25T03:52:53.478Z,1761364373.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:53.729Z,1761364373.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:53.780Z,1761364373.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859936,0.486186,-0.155348],[-0.495119,0.868533,-0.022546],[0.123963,0.096304,0.987603]]
2025-10-25T03:52:53.983Z,1761364373.983 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:54.175Z,1761364374.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860815,0.484867,-0.154602],[-0.493806,0.869261,-0.023281],[0.123101,0.096384,0.987702]]
2025-10-25T03:52:54.232Z,1761364374.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:54.234Z,1761364374.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:54.486Z,1761364374.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:54.578Z,1761364374.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861464,0.484167,-0.153176],[-0.492928,0.869765,-0.023033],[0.122075,0.095347,0.987930]]
2025-10-25T03:52:54.738Z,1761364374.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:54.981Z,1761364374.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862244,0.483146,-0.152005],[-0.491893,0.870327,-0.023928],[0.120734,0.095403,0.988090]]
2025-10-25T03:52:54.990Z,1761364374.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:55.241Z,1761364375.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:55.383Z,1761364375.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863282,0.482031,-0.149633],[-0.490608,0.871035,-0.024511],[0.118521,0.094572,0.988438]]
2025-10-25T03:52:55.494Z,1761364375.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:55.745Z,1761364375.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:55.807Z,1761364375.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864826,0.480261,-0.146372],[-0.488822,0.871960,-0.027175],[0.114579,0.095052,0.988856]]
2025-10-25T03:52:55.997Z,1761364375.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:56.196Z,1761364376.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865976,0.478925,-0.143931],[-0.487445,0.872672,-0.028984],[0.111723,0.095258,0.989163]]
2025-10-25T03:52:56.243Z,1761364376.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:56.249Z,1761364376.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:56.502Z,1761364376.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:56.598Z,1761364376.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866459,0.478783,-0.141477],[-0.487224,0.872747,-0.030424],[0.108908,0.095292,0.989474]]
2025-10-25T03:52:56.753Z,1761364376.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:57.005Z,1761364377.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:57.010Z,1761364377.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867243,0.477871,-0.139745],[-0.486286,0.873222,-0.031771],[0.106846,0.095510,0.989678]]
2025-10-25T03:52:57.258Z,1761364377.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:57.405Z,1761364377.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867541,0.478105,-0.137069],[-0.486280,0.873220,-0.031931],[0.104425,0.094356,0.990047]]
2025-10-25T03:52:57.509Z,1761364377.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:57.765Z,1761364377.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:57.818Z,1761364377.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868011,0.477672,-0.135595],[-0.485855,0.873402,-0.033388],[0.102480,0.094861,0.990202]]
2025-10-25T03:52:58.014Z,1761364378.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:58.212Z,1761364378.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868155,0.477875,-0.133951],[-0.485983,0.873299,-0.034196],[0.100638,0.094785,0.990398]]
2025-10-25T03:52:58.263Z,1761364378.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:52:58.265Z,1761364378.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:58.518Z,1761364378.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:58.619Z,1761364378.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868312,0.478080,-0.132187],[-0.486059,0.873241,-0.034584],[0.098897,0.094280,0.990621]]
2025-10-25T03:52:58.769Z,1761364378.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:59.021Z,1761364379.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:59.024Z,1761364379.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868252,0.478609,-0.130659],[-0.486474,0.872999,-0.034871],[0.097376,0.093839,0.990814]]
2025-10-25T03:52:59.273Z,1761364379.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:59.429Z,1761364379.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868358,0.478825,-0.129155],[-0.486605,0.872902,-0.035467],[0.095757,0.093645,0.990990]]
2025-10-25T03:52:59.525Z,1761364379.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:59.777Z,1761364379.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:52:59.829Z,1761364379.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867990,0.479903,-0.127620],[-0.487557,0.872365,-0.035611],[0.094242,0.093132,0.991184]]
2025-10-25T03:53:00.029Z,1761364380.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:00.232Z,1761364380.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867761,0.480671,-0.126275],[-0.488280,0.871926,-0.036432],[0.092591,0.093271,0.991326]]
2025-10-25T03:53:00.281Z,1761364380.281 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:00.294Z,1761364380.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:00.534Z,1761364380.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:00.639Z,1761364380.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867527,0.481371,-0.125219],[-0.488997,0.871472,-0.037670],[0.090991,0.093912,0.991414]]
2025-10-25T03:53:00.786Z,1761364380.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:01.038Z,1761364381.038 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:01.047Z,1761364381.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867028,0.482694,-0.123565],[-0.490158,0.870825,-0.037540],[0.089483,0.093115,0.991626]]
2025-10-25T03:53:01.290Z,1761364381.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:01.541Z,1761364381.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:01.793Z,1761364381.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:01.850Z,1761364381.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865923,0.485388,-0.120732],[-0.492636,0.869407,-0.037972],[0.086534,0.092358,0.991959]]
2025-10-25T03:53:02.045Z,1761364382.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:02.255Z,1761364382.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865434,0.486376,-0.120260],[-0.493747,0.868691,-0.039868],[0.085078,0.093881,0.991942]]
2025-10-25T03:53:02.298Z,1761364382.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:02.332Z,1761364382.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:02.549Z,1761364382.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:02.802Z,1761364382.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:03.057Z,1761364383.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:03.061Z,1761364383.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864445,0.488692,-0.117963],[-0.495990,0.867335,-0.041506],[0.082030,0.094388,0.992150]]
2025-10-25T03:53:03.310Z,1761364383.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:03.483Z,1761364383.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863973,0.489796,-0.116830],[-0.497051,0.866692,-0.042252],[0.080561,0.094575,0.992253]]
2025-10-25T03:53:03.562Z,1761364383.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:03.813Z,1761364383.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:03.869Z,1761364383.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863195,0.491508,-0.115383],[-0.498646,0.865765,-0.042451],[0.079029,0.094179,0.992414]]
2025-10-25T03:53:04.065Z,1761364384.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:04.273Z,1761364384.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863033,0.492052,-0.114272],[-0.499184,0.865394,-0.043695],[0.077390,0.094753,0.992488]]
2025-10-25T03:53:04.319Z,1761364384.319 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:04.345Z,1761364384.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:04.570Z,1761364384.570 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:04.682Z,1761364384.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862648,0.493022,-0.112990],[-0.500101,0.864819,-0.044574],[0.075740,0.094958,0.992596]]
2025-10-25T03:53:04.821Z,1761364384.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:05.073Z,1761364385.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:05.080Z,1761364385.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862568,0.493405,-0.111926],[-0.500479,0.864534,-0.045847],[0.074143,0.095563,0.992658]]
2025-10-25T03:53:05.325Z,1761364385.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:05.486Z,1761364385.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862842,0.493172,-0.110840],[-0.500263,0.864569,-0.047509],[0.072399,0.096442,0.992702]]
2025-10-25T03:53:05.577Z,1761364385.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:05.829Z,1761364385.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:05.890Z,1761364385.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863074,0.492989,-0.109842],[-0.500070,0.864613,-0.048730],[0.070947,0.096986,0.992754]]
2025-10-25T03:53:06.082Z,1761364386.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:06.296Z,1761364386.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863018,0.493303,-0.108865],[-0.500305,0.864465,-0.048950],[0.069963,0.096710,0.992851]]
2025-10-25T03:53:06.335Z,1761364386.335 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:06.351Z,1761364386.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:06.586Z,1761364386.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:06.728Z,1761364386.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863554,0.492635,-0.107631],[-0.499524,0.864909,-0.049068],[0.068919,0.096137,0.992979]]
2025-10-25T03:53:06.838Z,1761364386.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:07.089Z,1761364387.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:07.100Z,1761364387.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864055,0.492149,-0.105822],[-0.498845,0.865315,-0.048813],[0.067546,0.094966,0.993186]]
2025-10-25T03:53:07.342Z,1761364387.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:07.504Z,1761364387.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864743,0.491282,-0.104219],[-0.497919,0.865767,-0.050241],[0.065547,0.095338,0.993285]]
2025-10-25T03:53:07.593Z,1761364387.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:07.845Z,1761364387.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:07.908Z,1761364387.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865543,0.490496,-0.101238],[-0.496882,0.866330,-0.050794],[0.062791,0.094268,0.993565]]
2025-10-25T03:53:08.100Z,1761364388.100 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:08.321Z,1761364388.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866305,0.489860,-0.097738],[-0.495935,0.866856,-0.051086],[0.059700,0.092728,0.993900]]
2025-10-25T03:53:08.350Z,1761364388.350 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:08.359Z,1761364388.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:08.602Z,1761364388.602 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:08.718Z,1761364388.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867086,0.489093,-0.094603],[-0.494936,0.867366,-0.052103],[0.056572,0.092000,0.994151]]
2025-10-25T03:53:08.853Z,1761364388.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:09.106Z,1761364389.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:09.128Z,1761364389.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867680,0.488646,-0.091418],[-0.494270,0.867662,-0.053477],[0.053188,0.091586,0.994376]]
2025-10-25T03:53:09.357Z,1761364389.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:09.529Z,1761364389.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868424,0.487925,-0.088144],[-0.493322,0.868112,-0.054903],[0.049730,0.091163,0.994594]]
2025-10-25T03:53:09.610Z,1761364389.610 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:09.861Z,1761364389.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:09.928Z,1761364389.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868716,0.487966,-0.084985],[-0.493147,0.868115,-0.056405],[0.046253,0.090910,0.994784]]
2025-10-25T03:53:10.115Z,1761364390.115 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:10.336Z,1761364390.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868779,0.488343,-0.082122],[-0.493332,0.867908,-0.057951],[0.042974,0.090860,0.994936]]
2025-10-25T03:53:10.365Z,1761364390.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:10.387Z,1761364390.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:10.618Z,1761364390.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:10.741Z,1761364390.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868371,0.489472,-0.079681],[-0.494282,0.867294,-0.059036],[0.040211,0.090650,0.995071]]
2025-10-25T03:53:10.869Z,1761364390.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:11.121Z,1761364391.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:11.144Z,1761364391.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867669,0.491230,-0.076439],[-0.495739,0.866474,-0.058861],[0.037318,0.088966,0.995335]]
2025-10-25T03:53:11.373Z,1761364391.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:11.545Z,1761364391.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866279,0.494004,-0.074306],[-0.498338,0.864946,-0.059398],[0.034927,0.088485,0.995465]]
2025-10-25T03:53:11.625Z,1761364391.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:11.877Z,1761364391.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:11.949Z,1761364391.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864697,0.496980,-0.072873],[-0.501217,0.863210,-0.060417],[0.032878,0.088768,0.995510]]
2025-10-25T03:53:12.129Z,1761364392.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:12.361Z,1761364392.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863062,0.499974,-0.071767],[-0.504144,0.861422,-0.061580],[0.031033,0.089328,0.995519]]
2025-10-25T03:53:12.381Z,1761364392.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:12.419Z,1761364392.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:12.634Z,1761364392.634 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:12.758Z,1761364392.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861289,0.503152,-0.070844],[-0.507268,0.859503,-0.062724],[0.029331,0.089960,0.995513]]
2025-10-25T03:53:12.886Z,1761364392.886 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:13.137Z,1761364393.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:13.168Z,1761364393.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857441,0.509755,-0.070323],[-0.513875,0.855394,-0.065075],[0.026981,0.091935,0.995399]]
2025-10-25T03:53:13.390Z,1761364393.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:13.570Z,1761364393.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855708,0.512649,-0.070390],[-0.516789,0.853576,-0.065863],[0.026318,0.092736,0.995343]]
2025-10-25T03:53:13.641Z,1761364393.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:13.893Z,1761364393.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:13.972Z,1761364393.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853931,0.515649,-0.070066],[-0.519754,0.851763,-0.065990],[0.025652,0.092768,0.995357]]
2025-10-25T03:53:14.074Z,1761364394.074 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:53:14.145Z,1761364394.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:14.388Z,1761364394.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852749,0.517596,-0.070100],[-0.521730,0.850460,-0.067192],[0.024839,0.093871,0.995274]]
2025-10-25T03:53:14.397Z,1761364394.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:14.426Z,1761364394.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:14.649Z,1761364394.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:14.777Z,1761364394.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851174,0.520258,-0.069527],[-0.524319,0.848908,-0.066673],[0.024335,0.093205,0.995350]]
2025-10-25T03:53:14.902Z,1761364394.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:15.079Z,1761364395.079 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:53:15.153Z,1761364395.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:15.406Z,1761364395.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:15.586Z,1761364395.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850419,0.521463,-0.069742],[-0.525647,0.847716,-0.071225],[0.021980,0.097231,0.995019]]
2025-10-25T03:53:15.658Z,1761364395.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:15.909Z,1761364395.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:15.989Z,1761364395.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850248,0.521827,-0.069107],[-0.525979,0.847383,-0.072716],[0.020615,0.098176,0.994956]]
2025-10-25T03:53:16.164Z,1761364396.164 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:16.391Z,1761364396.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850233,0.521980,-0.068121],[-0.526061,0.847219,-0.074024],[0.019075,0.098773,0.994927]]
2025-10-25T03:53:16.422Z,1761364396.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:16.458Z,1761364396.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:16.673Z,1761364396.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:16.797Z,1761364396.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850653,0.521449,-0.066938],[-0.525437,0.847496,-0.075279],[0.017475,0.099208,0.994913]]
2025-10-25T03:53:16.925Z,1761364396.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:17.177Z,1761364397.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:17.205Z,1761364397.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851117,0.520818,-0.065950],[-0.524742,0.847754,-0.077193],[0.015706,0.100307,0.994833]]
2025-10-25T03:53:17.431Z,1761364397.431 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:17.604Z,1761364397.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851925,0.519653,-0.064691],[-0.523475,0.848411,-0.078559],[0.014062,0.100791,0.994808]]
2025-10-25T03:53:17.682Z,1761364397.682 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:17.934Z,1761364397.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:18.009Z,1761364398.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852886,0.518261,-0.063184],[-0.521945,0.849298,-0.079166],[0.012633,0.100498,0.994857]]
2025-10-25T03:53:18.189Z,1761364398.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:18.414Z,1761364398.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853855,0.516823,-0.061857],[-0.520394,0.850136,-0.080368],[0.011050,0.100813,0.994844]]
2025-10-25T03:53:18.438Z,1761364398.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:18.478Z,1761364398.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:18.689Z,1761364398.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:18.819Z,1761364398.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854867,0.515305,-0.060525],[-0.518760,0.851031,-0.081449],[0.009538,0.101026,0.994838]]
2025-10-25T03:53:18.942Z,1761364398.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:19.195Z,1761364399.195 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:19.221Z,1761364399.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855892,0.513839,-0.058457],[-0.517091,0.852070,-0.081203],[0.008084,0.099729,0.994982]]
2025-10-25T03:53:19.446Z,1761364399.446 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:19.698Z,1761364399.698 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:19.949Z,1761364399.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:20.029Z,1761364400.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857861,0.511034,-0.054033],[-0.513859,0.854057,-0.080844],[0.004833,0.097118,0.995261]]
2025-10-25T03:53:20.204Z,1761364400.204 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:20.435Z,1761364400.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858687,0.509830,-0.052241],[-0.512489,0.854847,-0.081186],[0.003267,0.096486,0.995329]]
2025-10-25T03:53:20.453Z,1761364400.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:20.511Z,1761364400.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:20.705Z,1761364400.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:20.958Z,1761364400.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:21.212Z,1761364401.212 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:21.247Z,1761364401.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859769,0.508360,-0.048654],[-0.510683,0.855835,-0.082159],[-0.000127,0.095485,0.995431]]
2025-10-25T03:53:21.461Z,1761364401.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:21.647Z,1761364401.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859985,0.508161,-0.046888],[-0.510316,0.856018,-0.082525],[-0.001798,0.094898,0.995485]]
2025-10-25T03:53:21.714Z,1761364401.714 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:21.965Z,1761364401.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:22.060Z,1761364402.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859941,0.508395,-0.045117],[-0.510380,0.855921,-0.083138],[-0.003650,0.094521,0.995516]]
2025-10-25T03:53:22.220Z,1761364402.220 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:22.470Z,1761364402.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:22.518Z,1761364402.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:22.722Z,1761364402.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:22.856Z,1761364402.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859783,0.508922,-0.042094],[-0.510607,0.855577,-0.085255],[-0.007373,0.094794,0.995470]]
2025-10-25T03:53:22.973Z,1761364402.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:23.228Z,1761364403.228 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:23.274Z,1761364403.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859225,0.509991,-0.040527],[-0.511519,0.854991,-0.085665],[-0.009038,0.094336,0.995499]]
2025-10-25T03:53:23.478Z,1761364403.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:23.664Z,1761364403.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858547,0.511260,-0.038875],[-0.512625,0.854313,-0.085820],[-0.010665,0.093609,0.995552]]
2025-10-25T03:53:23.737Z,1761364403.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:23.989Z,1761364403.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:24.070Z,1761364404.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858258,0.511864,-0.037259],[-0.513059,0.853923,-0.087094],[-0.012764,0.093865,0.995503]]
2025-10-25T03:53:24.245Z,1761364404.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:24.476Z,1761364404.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857229,0.513687,-0.035845],[-0.514733,0.852860,-0.087631],[-0.014444,0.093571,0.995508]]
2025-10-25T03:53:24.494Z,1761364404.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:24.548Z,1761364404.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:24.746Z,1761364404.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:24.888Z,1761364404.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856498,0.515004,-0.034389],[-0.515892,0.852054,-0.088655],[-0.016356,0.093674,0.995469]]
2025-10-25T03:53:24.998Z,1761364404.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:25.252Z,1761364405.252 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:25.502Z,1761364405.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:25.684Z,1761364405.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855243,0.517227,-0.032190],[-0.517831,0.850507,-0.092142],[-0.020280,0.095473,0.995225]]
2025-10-25T03:53:25.753Z,1761364405.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:26.006Z,1761364406.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:26.089Z,1761364406.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854591,0.518381,-0.030904],[-0.518829,0.849765,-0.093357],[-0.022133,0.095816,0.995153]]
2025-10-25T03:53:26.259Z,1761364406.259 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:26.493Z,1761364406.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854204,0.519082,-0.029829],[-0.519385,0.849245,-0.094988],[-0.023974,0.096632,0.995031]]
2025-10-25T03:53:26.509Z,1761364406.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:26.569Z,1761364406.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:26.761Z,1761364406.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:26.896Z,1761364406.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853716,0.519951,-0.028633],[-0.520106,0.848676,-0.096116],[-0.025675,0.096948,0.994958]]
2025-10-25T03:53:27.014Z,1761364407.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:27.268Z,1761364407.268 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:27.332Z,1761364407.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853362,0.520606,-0.027255],[-0.520587,0.848230,-0.097440],[-0.027610,0.097340,0.994868]]
2025-10-25T03:53:27.517Z,1761364407.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:27.705Z,1761364407.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853181,0.520966,-0.025996],[-0.520793,0.847983,-0.098486],[-0.029263,0.097565,0.994799]]
2025-10-25T03:53:27.769Z,1761364407.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:28.021Z,1761364408.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:28.113Z,1761364408.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852837,0.521585,-0.024867],[-0.521256,0.847537,-0.099866],[-0.031013,0.098131,0.994690]]
2025-10-25T03:53:28.274Z,1761364408.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:28.525Z,1761364408.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:28.616Z,1761364408.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:28.777Z,1761364408.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:28.918Z,1761364408.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852833,0.521686,-0.022784],[-0.521055,0.847315,-0.102754],[-0.034300,0.099504,0.994446]]
2025-10-25T03:53:29.029Z,1761364409.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:29.284Z,1761364409.284 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:29.533Z,1761364409.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:29.786Z,1761364409.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:30.037Z,1761364410.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:30.290Z,1761364410.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:30.542Z,1761364410.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:30.550Z,1761364410.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853835,0.520288,-0.016347],[-0.518881,0.848177,-0.106573],[-0.041583,0.099478,0.994170]]
2025-10-25T03:53:30.793Z,1761364410.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:30.942Z,1761364410.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854076,0.519930,-0.015102],[-0.518351,0.848352,-0.107752],[-0.043212,0.099857,0.994063]]
2025-10-25T03:53:30.960Z,1761364410.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:31.045Z,1761364411.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:31.298Z,1761364411.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:31.549Z,1761364411.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:31.804Z,1761364411.804 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:32.053Z,1761364412.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:32.150Z,1761364412.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854135,0.519925,-0.011433],[-0.517965,0.848536,-0.108160],[-0.046534,0.098305,0.994068]]
2025-10-25T03:53:32.306Z,1761364412.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:32.553Z,1761364412.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853653,0.520739,-0.010358],[-0.518644,0.848057,-0.108664],[-0.047801,0.098134,0.994025]]
2025-10-25T03:53:32.559Z,1761364412.559 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:32.809Z,1761364412.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:32.958Z,1761364412.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853360,0.521240,-0.009204],[-0.519012,0.847788,-0.109007],[-0.049016,0.097799,0.993998]]
2025-10-25T03:53:32.977Z,1761364412.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:33.061Z,1761364413.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:33.314Z,1761364413.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:33.411Z,1761364413.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852699,0.522334,-0.008492],[-0.520021,0.847150,-0.109159],[-0.049824,0.097495,0.993988]]
2025-10-25T03:53:33.565Z,1761364413.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:33.764Z,1761364413.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852057,0.523380,-0.008527],[-0.521028,0.846437,-0.109877],[-0.050290,0.098065,0.993909]]
2025-10-25T03:53:33.818Z,1761364413.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:34.069Z,1761364414.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:34.170Z,1761364414.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851712,0.523954,-0.007704],[-0.521500,0.846102,-0.110227],[-0.051236,0.097899,0.993877]]
2025-10-25T03:53:34.321Z,1761364414.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:34.571Z,1761364414.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851237,0.524729,-0.007480],[-0.522235,0.845616,-0.110471],[-0.051642,0.097944,0.993851]]
2025-10-25T03:53:34.573Z,1761364414.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:34.825Z,1761364414.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:34.977Z,1761364414.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850678,0.525640,-0.007040],[-0.523080,0.845052,-0.110791],[-0.052287,0.097930,0.993819]]
2025-10-25T03:53:35.010Z,1761364415.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:35.077Z,1761364415.077 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:35.329Z,1761364415.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:35.445Z,1761364415.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850442,0.526023,-0.006913],[-0.523411,0.844756,-0.111483],[-0.052803,0.098428,0.993742]]
2025-10-25T03:53:35.581Z,1761364415.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:35.786Z,1761364415.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850094,0.526593,-0.006357],[-0.523937,0.844463,-0.111232],[-0.053206,0.097888,0.993774]]
2025-10-25T03:53:35.842Z,1761364415.842 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:36.093Z,1761364416.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:36.195Z,1761364416.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849818,0.527041,-0.006005],[-0.524325,0.844167,-0.111651],[-0.053775,0.098031,0.993729]]
2025-10-25T03:53:36.345Z,1761364416.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:36.591Z,1761364416.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849389,0.527736,-0.005738],[-0.524972,0.843723,-0.111969],[-0.054249,0.098117,0.993695]]
2025-10-25T03:53:36.597Z,1761364416.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:36.849Z,1761364416.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:36.999Z,1761364416.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849348,0.527809,-0.005106],[-0.525023,0.843788,-0.111238],[-0.054404,0.097160,0.993781]]
2025-10-25T03:53:37.020Z,1761364417.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:37.102Z,1761364417.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:37.353Z,1761364417.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:37.431Z,1761364417.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849205,0.528043,-0.004532],[-0.525179,0.843641,-0.111615],[-0.055114,0.097164,0.993741]]
2025-10-25T03:53:37.605Z,1761364417.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:37.804Z,1761364417.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849031,0.528327,-0.004059],[-0.525390,0.843451,-0.112053],[-0.055777,0.097269,0.993694]]
2025-10-25T03:53:37.858Z,1761364417.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:38.110Z,1761364418.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:38.211Z,1761364418.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848810,0.528682,-0.004089],[-0.525731,0.843203,-0.112320],[-0.055934,0.097488,0.993664]]
2025-10-25T03:53:38.362Z,1761364418.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:38.613Z,1761364418.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:38.621Z,1761364418.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848634,0.528965,-0.004183],[-0.525991,0.842971,-0.112845],[-0.056165,0.097964,0.993604]]
2025-10-25T03:53:38.865Z,1761364418.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:39.052Z,1761364419.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:39.119Z,1761364419.119 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:39.369Z,1761364419.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:39.425Z,1761364419.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848382,0.529362,-0.004871],[-0.526385,0.842561,-0.114063],[-0.056276,0.099333,0.993462]]
2025-10-25T03:53:39.621Z,1761364419.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:39.831Z,1761364419.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848072,0.529859,-0.004783],[-0.526866,0.842250,-0.114134],[-0.056446,0.099314,0.993454]]
2025-10-25T03:53:39.873Z,1761364419.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:40.125Z,1761364420.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:40.377Z,1761364420.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:40.635Z,1761364420.635 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:40.635Z,1761364420.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847365,0.530992,-0.004352],[-0.527973,0.841615,-0.113703],[-0.056713,0.098645,0.993505]]
2025-10-25T03:53:40.885Z,1761364420.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:41.038Z,1761364421.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847152,0.531335,-0.004213],[-0.528303,0.841416,-0.113646],[-0.056839,0.098501,0.993512]]
2025-10-25T03:53:41.059Z,1761364421.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:41.137Z,1761364421.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:41.389Z,1761364421.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:41.450Z,1761364421.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847064,0.531473,-0.004441],[-0.528449,0.841292,-0.113883],[-0.056790,0.098813,0.993484]]
2025-10-25T03:53:41.641Z,1761364421.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:41.856Z,1761364421.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846941,0.531667,-0.004552],[-0.528652,0.841164,-0.113885],[-0.056720,0.098860,0.993484]]
2025-10-25T03:53:41.893Z,1761364421.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:42.145Z,1761364422.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:42.248Z,1761364422.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846643,0.532142,-0.004514],[-0.529128,0.840882,-0.113761],[-0.056741,0.098704,0.993498]]
2025-10-25T03:53:42.397Z,1761364422.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:42.649Z,1761364422.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:42.655Z,1761364422.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846384,0.532544,-0.005519],[-0.529576,0.840478,-0.114658],[-0.056422,0.099968,0.993390]]
2025-10-25T03:53:42.902Z,1761364422.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:43.057Z,1761364423.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846059,0.533060,-0.005488],[-0.530085,0.840156,-0.114667],[-0.056514,0.099924,0.993389]]
2025-10-25T03:53:43.085Z,1761364423.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:43.154Z,1761364423.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:43.405Z,1761364423.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:43.461Z,1761364423.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846161,0.532900,-0.005422],[-0.529904,0.840233,-0.114939],[-0.056695,0.100130,0.993358]]
2025-10-25T03:53:43.658Z,1761364423.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:43.867Z,1761364423.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846072,0.533038,-0.005705],[-0.530045,0.840085,-0.115369],[-0.056704,0.100634,0.993306]]
2025-10-25T03:53:43.909Z,1761364423.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:44.161Z,1761364424.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:44.274Z,1761364424.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846016,0.533125,-0.005848],[-0.530136,0.840006,-0.115528],[-0.056679,0.100839,0.993287]]
2025-10-25T03:53:44.413Z,1761364424.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:44.665Z,1761364424.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:44.675Z,1761364424.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845874,0.533351,-0.005787],[-0.530361,0.839879,-0.115413],[-0.056695,0.100694,0.993301]]
2025-10-25T03:53:44.918Z,1761364424.918 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:45.076Z,1761364425.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845901,0.533309,-0.005739],[-0.530310,0.839901,-0.115486],[-0.056769,0.100734,0.993293]]
2025-10-25T03:53:45.094Z,1761364425.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:45.169Z,1761364425.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:45.214Z,1761364425.214 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:53:45.421Z,1761364425.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:45.493Z,1761364425.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846130,0.532943,-0.006020],[-0.529942,0.840054,-0.116067],[-0.056800,0.101398,0.993223]]
2025-10-25T03:53:45.673Z,1761364425.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:45.883Z,1761364425.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846382,0.532543,-0.005953],[-0.529508,0.840256,-0.116577],[-0.057081,0.101821,0.993164]]
2025-10-25T03:53:45.926Z,1761364425.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:46.177Z,1761364426.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:46.218Z,1761364426.218 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:53:46.292Z,1761364426.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846684,0.532063,-0.005958],[-0.529022,0.840538,-0.116756],[-0.057114,0.102007,0.993143]]
2025-10-25T03:53:46.429Z,1761364426.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:46.682Z,1761364426.682 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:46.698Z,1761364426.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846551,0.532279,-0.005549],[-0.529218,0.840470,-0.116355],[-0.057269,0.101437,0.993192]]
2025-10-25T03:53:46.934Z,1761364426.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:47.097Z,1761364427.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846681,0.532079,-0.004805],[-0.529025,0.840782,-0.114972],[-0.057134,0.099887,0.993357]]
2025-10-25T03:53:47.131Z,1761364427.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:47.186Z,1761364427.186 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:47.438Z,1761364427.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:47.510Z,1761364427.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846972,0.531620,-0.004325],[-0.528499,0.841061,-0.115350],[-0.057685,0.099984,0.993315]]
2025-10-25T03:53:47.689Z,1761364427.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:47.910Z,1761364427.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847283,0.531126,-0.004205],[-0.527973,0.841337,-0.115743],[-0.057937,0.100287,0.993270]]
2025-10-25T03:53:47.942Z,1761364427.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:48.193Z,1761364428.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:48.320Z,1761364428.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847340,0.531035,-0.004172],[-0.527876,0.841391,-0.115793],[-0.057980,0.100318,0.993265]]
2025-10-25T03:53:48.446Z,1761364428.446 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:48.705Z,1761364428.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:48.714Z,1761364428.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847425,0.530901,-0.003840],[-0.527752,0.841567,-0.115079],[-0.057864,0.099547,0.993349]]
2025-10-25T03:53:48.950Z,1761364428.950 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:49.117Z,1761364429.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847102,0.531421,-0.003213],[-0.528257,0.841369,-0.114208],[-0.057989,0.098443,0.993452]]
2025-10-25T03:53:49.158Z,1761364429.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:49.202Z,1761364429.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:49.453Z,1761364429.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:49.522Z,1761364429.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846680,0.532095,-0.002801],[-0.528953,0.841085,-0.113070],[-0.057808,0.097216,0.993583]]
2025-10-25T03:53:49.708Z,1761364429.708 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:49.925Z,1761364429.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846519,0.532351,-0.002904],[-0.529226,0.840934,-0.112919],[-0.057670,0.097125,0.993600]]
2025-10-25T03:53:49.957Z,1761364429.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:50.209Z,1761364430.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:50.330Z,1761364430.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846384,0.532563,-0.003457],[-0.529469,0.840732,-0.113280],[-0.057422,0.097709,0.993557]]
2025-10-25T03:53:50.461Z,1761364430.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:50.713Z,1761364430.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:50.733Z,1761364430.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846303,0.532689,-0.003808],[-0.529613,0.840603,-0.113564],[-0.057293,0.098126,0.993523]]
2025-10-25T03:53:50.965Z,1761364430.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:51.138Z,1761364431.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846552,0.532289,-0.004122],[-0.529225,0.840796,-0.113941],[-0.057184,0.098638,0.993479]]
2025-10-25T03:53:51.219Z,1761364431.219 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:51.469Z,1761364431.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:51.545Z,1761364431.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846503,0.532368,-0.004257],[-0.529317,0.840740,-0.113931],[-0.057074,0.098696,0.993480]]
2025-10-25T03:53:51.562Z,1761364431.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:51.721Z,1761364431.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:51.947Z,1761364431.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846187,0.532872,-0.003883],[-0.529829,0.840530,-0.113096],[-0.057001,0.097758,0.993577]]
2025-10-25T03:53:51.974Z,1761364431.974 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:52.225Z,1761364432.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:52.350Z,1761364432.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846048,0.533092,-0.004024],[-0.530072,0.840402,-0.112912],[-0.056811,0.097662,0.993597]]
2025-10-25T03:53:52.477Z,1761364432.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:52.730Z,1761364432.730 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:52.756Z,1761364432.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846197,0.532853,-0.004176],[-0.529832,0.840512,-0.113211],[-0.056815,0.098012,0.993562]]
2025-10-25T03:53:52.982Z,1761364432.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:53.234Z,1761364433.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:53.485Z,1761364433.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:53.560Z,1761364433.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846138,0.532941,-0.004955],[-0.529928,0.840291,-0.114401],[-0.056805,0.099425,0.993422]]
2025-10-25T03:53:53.594Z,1761364433.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:53.738Z,1761364433.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:53.963Z,1761364433.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846213,0.532819,-0.005195],[-0.529824,0.840339,-0.114535],[-0.056660,0.099673,0.993406]]
2025-10-25T03:53:53.989Z,1761364433.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:54.241Z,1761364434.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:54.370Z,1761364434.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846115,0.532975,-0.005220],[-0.529978,0.840233,-0.114598],[-0.056692,0.099730,0.993398]]
2025-10-25T03:53:54.493Z,1761364434.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:54.745Z,1761364434.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:54.773Z,1761364434.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846342,0.532614,-0.005219],[-0.529606,0.840437,-0.114814],[-0.056765,0.099936,0.993373]]
2025-10-25T03:53:54.879Z,1761364434.879 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:53:54.997Z,1761364434.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:55.181Z,1761364435.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846450,0.532445,-0.004928],[-0.529418,0.840576,-0.114667],[-0.056911,0.099668,0.993392]]
2025-10-25T03:53:55.250Z,1761364435.250 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:55.502Z,1761364435.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:55.582Z,1761364435.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846842,0.531819,-0.005184],[-0.528798,0.840909,-0.115086],[-0.056845,0.100201,0.993342]]
2025-10-25T03:53:55.602Z,1761364435.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:55.753Z,1761364435.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:56.006Z,1761364436.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:56.257Z,1761364436.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:56.389Z,1761364436.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847402,0.530922,-0.005612],[-0.527906,0.841364,-0.115853],[-0.056787,0.101137,0.993250]]
2025-10-25T03:53:56.509Z,1761364436.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:56.766Z,1761364436.766 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:56.809Z,1761364436.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847931,0.530078,-0.005539],[-0.527023,0.841827,-0.116511],[-0.057097,0.101712,0.993174]]
2025-10-25T03:53:57.018Z,1761364437.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:57.202Z,1761364437.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848767,0.528739,-0.005526],[-0.525636,0.842557,-0.117491],[-0.057466,0.102627,0.993059]]
2025-10-25T03:53:57.270Z,1761364437.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:57.521Z,1761364437.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:57.612Z,1761364437.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849067,0.528257,-0.005440],[-0.525129,0.842826,-0.117827],[-0.057658,0.102900,0.993019]]
2025-10-25T03:53:57.633Z,1761364437.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:57.774Z,1761364437.774 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:58.010Z,1761364438.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849347,0.527809,-0.005215],[-0.524661,0.843118,-0.117823],[-0.057791,0.102809,0.993021]]
2025-10-25T03:53:58.025Z,1761364438.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:58.277Z,1761364438.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:58.408Z,1761364438.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849663,0.527301,-0.005168],[-0.524150,0.843430,-0.117866],[-0.057792,0.102856,0.993016]]
2025-10-25T03:53:58.529Z,1761364438.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:58.785Z,1761364438.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:58.820Z,1761364438.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850021,0.526724,-0.005114],[-0.523552,0.843754,-0.118208],[-0.057948,0.103157,0.992976]]
2025-10-25T03:53:59.033Z,1761364439.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:59.224Z,1761364439.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850478,0.525985,-0.005132],[-0.522798,0.844168,-0.118581],[-0.058039,0.103533,0.992931]]
2025-10-25T03:53:59.286Z,1761364439.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:59.537Z,1761364439.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:53:59.621Z,1761364439.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851000,0.525139,-0.005314],[-0.521909,0.844554,-0.119748],[-0.058397,0.104679,0.992790]]
2025-10-25T03:53:59.651Z,1761364439.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:53:59.791Z,1761364439.791 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:00.030Z,1761364440.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851595,0.524173,-0.005357],[-0.520902,0.845050,-0.120631],[-0.058705,0.105519,0.992683]]
2025-10-25T03:54:00.041Z,1761364440.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:00.294Z,1761364440.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:00.545Z,1761364440.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:00.799Z,1761364440.799 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:00.845Z,1761364440.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852260,0.523102,-0.004246],[-0.519757,0.845837,-0.120053],[-0.059209,0.104523,0.992758]]
2025-10-25T03:54:01.049Z,1761364441.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:01.237Z,1761364441.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852799,0.522223,-0.004219],[-0.518845,0.846309,-0.120669],[-0.059446,0.105096,0.992684]]
2025-10-25T03:54:01.302Z,1761364441.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:01.553Z,1761364441.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:01.641Z,1761364441.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853009,0.521881,-0.003905],[-0.518478,0.846545,-0.120592],[-0.059629,0.104891,0.992694]]
2025-10-25T03:54:01.659Z,1761364441.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:01.808Z,1761364441.808 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:02.046Z,1761364442.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853378,0.521281,-0.003536],[-0.517840,0.846927,-0.120652],[-0.059899,0.104793,0.992689]]
2025-10-25T03:54:02.059Z,1761364442.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:02.310Z,1761364442.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:02.563Z,1761364442.563 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:02.815Z,1761364442.815 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:03.065Z,1761364443.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:03.266Z,1761364443.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853926,0.520391,-0.001952],[-0.516835,0.847639,-0.119957],[-0.060770,0.103443,0.992777]]
2025-10-25T03:54:03.319Z,1761364443.319 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:03.569Z,1761364443.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:03.670Z,1761364443.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854225,0.519901,-0.001336],[-0.516291,0.847986,-0.119846],[-0.061175,0.103066,0.992792]]
2025-10-25T03:54:03.691Z,1761364443.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:03.824Z,1761364443.824 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:04.063Z,1761364444.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854522,0.519414,-0.000977],[-0.515780,0.848317,-0.119706],[-0.061349,0.102795,0.992809]]
2025-10-25T03:54:04.084Z,1761364444.084 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:04.325Z,1761364444.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:04.470Z,1761364444.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854663,0.519183,-0.000449],[-0.515507,0.848509,-0.119520],[-0.061671,0.102381,0.992832]]
2025-10-25T03:54:04.577Z,1761364444.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:04.834Z,1761364444.834 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:05.081Z,1761364445.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:05.292Z,1761364445.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855699,0.517473,-0.000186],[-0.513750,0.849500,-0.120045],[-0.061962,0.102818,0.992768]]
2025-10-25T03:54:05.335Z,1761364445.335 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:05.585Z,1761364445.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:05.681Z,1761364445.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855877,0.517180,0.000041],[-0.513416,0.849658,-0.120352],[-0.062279,0.102986,0.992731]]
2025-10-25T03:54:05.712Z,1761364445.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:05.840Z,1761364445.840 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:06.083Z,1761364446.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856383,0.516341,0.000058],[-0.512555,0.850117,-0.120783],[-0.062414,0.103407,0.992679]]
2025-10-25T03:54:06.089Z,1761364446.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:06.341Z,1761364446.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:06.489Z,1761364446.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856704,0.515808,0.000479],[-0.511971,0.850443,-0.120966],[-0.062803,0.103387,0.992656]]
2025-10-25T03:54:06.593Z,1761364446.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:06.848Z,1761364446.848 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:06.926Z,1761364446.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857070,0.515199,0.000526],[-0.511347,0.850785,-0.121197],[-0.062888,0.103605,0.992628]]
2025-10-25T03:54:07.097Z,1761364447.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:07.309Z,1761364447.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857273,0.514861,0.000847],[-0.510965,0.850986,-0.121401],[-0.063225,0.103641,0.992603]]
2025-10-25T03:54:07.351Z,1761364447.351 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:07.601Z,1761364447.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:07.702Z,1761364447.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857604,0.514310,0.000877],[-0.510406,0.851302,-0.121536],[-0.063254,0.103782,0.992587]]
2025-10-25T03:54:07.726Z,1761364447.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:07.855Z,1761364447.855 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:08.103Z,1761364448.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857637,0.514255,0.001204],[-0.510332,0.851378,-0.121315],[-0.063412,0.103430,0.992613]]
2025-10-25T03:54:08.105Z,1761364448.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:08.357Z,1761364448.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:08.609Z,1761364448.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:08.865Z,1761364448.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:09.115Z,1761364449.115 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:09.323Z,1761364449.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858336,0.513085,0.001850],[-0.509066,0.852052,-0.121899],[-0.064121,0.103688,0.992541]]
2025-10-25T03:54:09.366Z,1761364449.366 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:09.618Z,1761364449.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:09.723Z,1761364449.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858795,0.512315,0.002182],[-0.508262,0.852519,-0.121991],[-0.064357,0.103656,0.992529]]
2025-10-25T03:54:09.740Z,1761364449.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:09.869Z,1761364449.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:10.122Z,1761364450.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:10.373Z,1761364450.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:10.528Z,1761364450.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859931,0.510401,0.003181],[-0.506231,0.853668,-0.122396],[-0.065186,0.103642,0.992476]]
2025-10-25T03:54:10.625Z,1761364450.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:10.877Z,1761364450.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:10.982Z,1761364450.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860358,0.509676,0.003810],[-0.505440,0.854124,-0.122484],[-0.065681,0.103455,0.992463]]
2025-10-25T03:54:11.130Z,1761364451.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:11.347Z,1761364451.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860983,0.508614,0.004541],[-0.504287,0.854756,-0.122828],[-0.066353,0.103463,0.992418]]
2025-10-25T03:54:11.381Z,1761364451.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:11.634Z,1761364451.634 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:11.741Z,1761364451.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861422,0.507861,0.005377],[-0.503455,0.855248,-0.122818],[-0.066973,0.103091,0.992415]]
2025-10-25T03:54:11.794Z,1761364451.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:11.886Z,1761364451.886 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:12.137Z,1761364452.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:12.156Z,1761364452.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862136,0.506641,0.006011],[-0.502166,0.855981,-0.122989],[-0.067457,0.103015,0.992390]]
2025-10-25T03:54:12.389Z,1761364452.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:12.548Z,1761364452.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862835,0.505443,0.006547],[-0.500903,0.856682,-0.123253],[-0.067906,0.103068,0.992354]]
2025-10-25T03:54:12.641Z,1761364452.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:12.893Z,1761364452.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:12.992Z,1761364452.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863593,0.504140,0.007144],[-0.499518,0.857429,-0.123680],[-0.068478,0.103241,0.992296]]
2025-10-25T03:54:13.145Z,1761364453.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:13.365Z,1761364453.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864646,0.502322,0.007718],[-0.497602,0.858433,-0.124437],[-0.069133,0.103754,0.992198]]
2025-10-25T03:54:13.398Z,1761364453.398 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:13.650Z,1761364453.650 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:13.769Z,1761364453.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865738,0.500430,0.008222],[-0.495612,0.859462,-0.125278],[-0.069760,0.104383,0.992088]]
2025-10-25T03:54:13.902Z,1761364453.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:14.153Z,1761364454.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:14.236Z,1761364454.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:14.405Z,1761364454.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:14.572Z,1761364454.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866900,0.498402,0.008974],[-0.493486,0.860614,-0.125754],[-0.070399,0.104588,0.992021]]
2025-10-25T03:54:14.657Z,1761364454.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:14.909Z,1761364454.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:15.009Z,1761364455.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867238,0.497809,0.009237],[-0.492875,0.860975,-0.125680],[-0.070518,0.104442,0.992028]]
2025-10-25T03:54:15.161Z,1761364455.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:15.384Z,1761364455.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867209,0.497852,0.009621],[-0.492908,0.861017,-0.125265],[-0.070647,0.103889,0.992077]]
2025-10-25T03:54:15.414Z,1761364455.414 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:15.667Z,1761364455.667 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:15.788Z,1761364455.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867282,0.497724,0.009609],[-0.492811,0.861131,-0.124867],[-0.070424,0.103559,0.992127]]
2025-10-25T03:54:15.918Z,1761364455.918 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:16.169Z,1761364456.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:16.189Z,1761364456.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866918,0.498350,0.010025],[-0.493442,0.860878,-0.124111],[-0.070481,0.102647,0.992218]]
2025-10-25T03:54:16.244Z,1761364456.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:16.342Z,1761364456.342 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:54:16.421Z,1761364456.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:16.592Z,1761364456.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866902,0.498380,0.009946],[-0.493510,0.860900,-0.123692],[-0.070208,0.102320,0.992271]]
2025-10-25T03:54:16.673Z,1761364456.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:16.925Z,1761364456.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:17.012Z,1761364457.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866862,0.498445,0.010114],[-0.493577,0.860901,-0.123412],[-0.070222,0.101989,0.992304]]
2025-10-25T03:54:17.177Z,1761364457.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:17.345Z,1761364457.345 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:54:17.400Z,1761364457.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866886,0.498410,0.009822],[-0.493585,0.860922,-0.123235],[-0.069877,0.101983,0.992329]]
2025-10-25T03:54:17.430Z,1761364457.430 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:17.681Z,1761364457.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:17.805Z,1761364457.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866488,0.499099,0.009940],[-0.494314,0.860619,-0.122425],[-0.069657,0.101166,0.992428]]
2025-10-25T03:54:17.934Z,1761364457.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:18.185Z,1761364458.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:18.211Z,1761364458.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866139,0.499698,0.010199],[-0.494957,0.860398,-0.121379],[-0.069428,0.100083,0.992554]]
2025-10-25T03:54:18.266Z,1761364458.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:18.438Z,1761364458.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:18.612Z,1761364458.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865512,0.500783,0.010267],[-0.496091,0.859872,-0.120474],[-0.069160,0.099178,0.992663]]
2025-10-25T03:54:18.691Z,1761364458.691 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:18.941Z,1761364458.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:19.193Z,1761364459.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:19.447Z,1761364459.447 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:19.697Z,1761364459.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:19.826Z,1761364459.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864978,0.501709,0.010104],[-0.497052,0.859368,-0.120108],[-0.068942,0.098868,0.992710]]
2025-10-25T03:54:19.950Z,1761364459.950 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:20.202Z,1761364460.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:20.234Z,1761364460.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865291,0.501169,0.010025],[-0.496497,0.859635,-0.120489],[-0.069003,0.099281,0.992664]]
2025-10-25T03:54:20.309Z,1761364460.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:20.453Z,1761364460.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:20.632Z,1761364460.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865297,0.501157,0.010166],[-0.496468,0.859647,-0.120529],[-0.069144,0.099246,0.992658]]
2025-10-25T03:54:20.709Z,1761364460.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:20.961Z,1761364460.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:21.037Z,1761364461.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865564,0.500700,0.009929],[-0.496014,0.859860,-0.120872],[-0.069058,0.099698,0.992618]]
2025-10-25T03:54:21.213Z,1761364461.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:21.439Z,1761364461.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865765,0.500358,0.009623],[-0.495665,0.859980,-0.121457],[-0.069047,0.100383,0.992550]]
2025-10-25T03:54:21.466Z,1761364461.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:21.723Z,1761364461.723 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:21.861Z,1761364461.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866093,0.499792,0.009580],[-0.495088,0.860275,-0.121711],[-0.069072,0.100670,0.992519]]
2025-10-25T03:54:21.973Z,1761364461.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:22.225Z,1761364462.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:22.255Z,1761364462.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866109,0.499768,0.009340],[-0.495083,0.860265,-0.121811],[-0.068912,0.100877,0.992509]]
2025-10-25T03:54:22.314Z,1761364462.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:22.478Z,1761364462.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:22.655Z,1761364462.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866454,0.499178,0.008927],[-0.494547,0.860591,-0.121685],[-0.068425,0.101020,0.992529]]
2025-10-25T03:54:22.729Z,1761364462.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:22.982Z,1761364462.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:23.057Z,1761364463.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866739,0.498692,0.008344],[-0.494181,0.860921,-0.120834],[-0.067442,0.100608,0.992638]]
2025-10-25T03:54:23.234Z,1761364463.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:23.463Z,1761364463.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867207,0.497901,0.006812],[-0.493564,0.861302,-0.120637],[-0.065933,0.101255,0.992673]]
2025-10-25T03:54:23.486Z,1761364463.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:23.737Z,1761364463.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:23.865Z,1761364463.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867750,0.496971,0.005386],[-0.492790,0.861756,-0.120560],[-0.064557,0.101962,0.992691]]
2025-10-25T03:54:23.989Z,1761364463.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:24.241Z,1761364464.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:24.273Z,1761364464.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868429,0.495795,0.004301],[-0.491765,0.862413,-0.120047],[-0.063228,0.102138,0.992759]]
2025-10-25T03:54:24.342Z,1761364464.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:24.494Z,1761364464.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:24.682Z,1761364464.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869063,0.494688,0.003704],[-0.490808,0.863136,-0.118761],[-0.061947,0.101393,0.992916]]
2025-10-25T03:54:24.745Z,1761364464.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:24.997Z,1761364464.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:25.077Z,1761364465.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869495,0.493935,0.002727],[-0.490229,0.863621,-0.117621],[-0.060452,0.100934,0.993055]]
2025-10-25T03:54:25.250Z,1761364465.250 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:25.479Z,1761364465.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870017,0.493018,0.002042],[-0.489471,0.864239,-0.116227],[-0.059067,0.100120,0.993221]]
2025-10-25T03:54:25.501Z,1761364465.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:25.753Z,1761364465.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:25.891Z,1761364465.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870722,0.491774,0.001374],[-0.488379,0.865031,-0.114925],[-0.057706,0.099397,0.993373]]
2025-10-25T03:54:26.005Z,1761364466.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:26.257Z,1761364466.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:26.292Z,1761364466.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871113,0.491082,0.000305],[-0.487860,0.865468,-0.113833],[-0.056165,0.099012,0.993500]]
2025-10-25T03:54:26.356Z,1761364466.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:26.509Z,1761364466.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:26.693Z,1761364466.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871469,0.490450,-0.000380],[-0.487354,0.865880,-0.112864],[-0.055025,0.098542,0.993610]]
2025-10-25T03:54:26.762Z,1761364466.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:27.013Z,1761364467.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:27.096Z,1761364467.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872011,0.489485,-0.001486],[-0.486525,0.866396,-0.112483],[-0.053771,0.098809,0.993653]]
2025-10-25T03:54:27.265Z,1761364467.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:27.502Z,1761364467.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872237,0.489080,-0.002157],[-0.486258,0.866714,-0.111173],[-0.052503,0.098018,0.993799]]
2025-10-25T03:54:27.518Z,1761364467.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:27.770Z,1761364467.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:27.905Z,1761364467.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872446,0.488698,-0.003496],[-0.486077,0.866982,-0.109873],[-0.050664,0.097557,0.993940]]
2025-10-25T03:54:28.021Z,1761364468.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:28.273Z,1761364468.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:28.324Z,1761364468.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872381,0.488807,-0.004352],[-0.486341,0.867014,-0.108440],[-0.049233,0.096718,0.994094]]
2025-10-25T03:54:28.378Z,1761364468.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:28.525Z,1761364468.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:28.712Z,1761364468.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872250,0.489031,-0.005315],[-0.486726,0.866975,-0.107012],[-0.047724,0.095928,0.994244]]
2025-10-25T03:54:28.778Z,1761364468.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:29.029Z,1761364469.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:29.282Z,1761364469.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:29.526Z,1761364469.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871310,0.490688,-0.006642],[-0.488674,0.866337,-0.103236],[-0.044902,0.093197,0.994635]]
2025-10-25T03:54:29.533Z,1761364469.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:29.786Z,1761364469.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:29.926Z,1761364469.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870650,0.491841,-0.007745],[-0.489982,0.865755,-0.101906],[-0.043416,0.092519,0.994764]]
2025-10-25T03:54:30.037Z,1761364470.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:30.290Z,1761364470.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:30.352Z,1761364470.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869722,0.493468,-0.008554],[-0.491736,0.864928,-0.100473],[-0.042182,0.091590,0.994903]]
2025-10-25T03:54:30.413Z,1761364470.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:30.541Z,1761364470.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:30.732Z,1761364470.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869144,0.494465,-0.009663],[-0.492875,0.864407,-0.099374],[-0.040784,0.091133,0.995003]]
2025-10-25T03:54:30.796Z,1761364470.796 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:31.045Z,1761364471.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:31.138Z,1761364471.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868570,0.495463,-0.010133],[-0.493975,0.863962,-0.097765],[-0.039684,0.089922,0.995158]]
2025-10-25T03:54:31.298Z,1761364471.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:31.549Z,1761364471.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:31.552Z,1761364471.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868088,0.496286,-0.011130],[-0.494907,0.863495,-0.097183],[-0.038620,0.089872,0.995204]]
2025-10-25T03:54:31.802Z,1761364471.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:31.945Z,1761364471.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867666,0.496999,-0.012197],[-0.495725,0.863066,-0.096817],[-0.037591,0.090051,0.995227]]
2025-10-25T03:54:32.053Z,1761364472.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:32.306Z,1761364472.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:32.350Z,1761364472.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867265,0.497654,-0.013866],[-0.496516,0.862575,-0.097140],[-0.036381,0.091131,0.995174]]
2025-10-25T03:54:32.558Z,1761364472.558 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:32.787Z,1761364472.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:32.809Z,1761364472.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:33.061Z,1761364473.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:33.158Z,1761364473.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866146,0.499516,-0.016594],[-0.498638,0.861417,-0.096538],[-0.033928,0.091890,0.995191]]
2025-10-25T03:54:33.314Z,1761364473.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:33.566Z,1761364473.566 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:33.818Z,1761364473.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:33.964Z,1761364473.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865361,0.500753,-0.019915],[-0.500196,0.860584,-0.095912],[-0.030890,0.092960,0.995191]]
2025-10-25T03:54:34.069Z,1761364474.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:34.321Z,1761364474.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:34.377Z,1761364474.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864987,0.501342,-0.021305],[-0.500927,0.860215,-0.095407],[-0.029504,0.093198,0.995210]]
2025-10-25T03:54:34.573Z,1761364474.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:34.773Z,1761364474.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864569,0.502001,-0.022712],[-0.501727,0.859804,-0.094905],[-0.028114,0.093447,0.995227]]
2025-10-25T03:54:34.802Z,1761364474.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:34.839Z,1761364474.839 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:35.089Z,1761364475.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:35.176Z,1761364475.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864301,0.502396,-0.024113],[-0.502263,0.859537,-0.094489],[-0.026745,0.093778,0.995234]]
2025-10-25T03:54:35.342Z,1761364475.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:35.593Z,1761364475.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:35.845Z,1761364475.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:35.988Z,1761364475.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863856,0.503022,-0.026874],[-0.503165,0.859094,-0.093714],[-0.024053,0.094477,0.995236]]
2025-10-25T03:54:36.097Z,1761364476.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:36.350Z,1761364476.350 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:36.392Z,1761364476.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863782,0.503078,-0.028176],[-0.503351,0.859020,-0.093392],[-0.022779,0.094852,0.995231]]
2025-10-25T03:54:36.601Z,1761364476.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:36.805Z,1761364476.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863942,0.502730,-0.029457],[-0.503124,0.859143,-0.093485],[-0.021690,0.095586,0.995185]]
2025-10-25T03:54:36.838Z,1761364476.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:36.853Z,1761364476.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:37.106Z,1761364477.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:37.199Z,1761364477.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863721,0.503048,-0.030470],[-0.503561,0.859007,-0.092375],[-0.020295,0.095129,0.995258]]
2025-10-25T03:54:37.359Z,1761364477.359 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:37.599Z,1761364477.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863728,0.502980,-0.031391],[-0.503592,0.859047,-0.091829],[-0.019222,0.095123,0.995280]]
2025-10-25T03:54:37.609Z,1761364477.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:37.861Z,1761364477.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:38.113Z,1761364478.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:38.368Z,1761364478.368 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:38.418Z,1761364478.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863346,0.503540,-0.032890],[-0.504320,0.858790,-0.090227],[-0.017188,0.094484,0.995378]]
2025-10-25T03:54:38.617Z,1761364478.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:38.812Z,1761364478.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863223,0.503710,-0.033500],[-0.504561,0.858735,-0.089403],[-0.016265,0.094077,0.995432]]
2025-10-25T03:54:38.843Z,1761364478.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:38.869Z,1761364478.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:39.121Z,1761364479.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:39.222Z,1761364479.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863103,0.503852,-0.034447],[-0.504810,0.858715,-0.088174],[-0.014847,0.093493,0.995509]]
2025-10-25T03:54:39.376Z,1761364479.376 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:39.625Z,1761364479.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:39.627Z,1761364479.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862996,0.504012,-0.034773],[-0.505008,0.858656,-0.087621],[-0.014304,0.093178,0.995547]]
2025-10-25T03:54:39.877Z,1761364479.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:40.030Z,1761364480.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862907,0.504135,-0.035201],[-0.505178,0.858614,-0.087047],[-0.013659,0.092896,0.995582]]
2025-10-25T03:54:40.129Z,1761364480.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:40.384Z,1761364480.384 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:40.633Z,1761364480.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:40.835Z,1761364480.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862509,0.504740,-0.036257],[-0.505894,0.858316,-0.085819],[-0.012196,0.092361,0.995651]]
2025-10-25T03:54:40.865Z,1761364480.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:40.887Z,1761364480.887 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:41.137Z,1761364481.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:41.237Z,1761364481.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862526,0.504665,-0.036901],[-0.505881,0.858349,-0.085565],[-0.011508,0.092469,0.995649]]
2025-10-25T03:54:41.392Z,1761364481.392 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:41.641Z,1761364481.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:41.651Z,1761364481.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862440,0.504756,-0.037653],[-0.506044,0.858270,-0.085401],[-0.010790,0.092707,0.995635]]
2025-10-25T03:54:41.893Z,1761364481.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:42.044Z,1761364482.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862476,0.504641,-0.038374],[-0.505998,0.858312,-0.085243],[-0.010081,0.092937,0.995621]]
2025-10-25T03:54:42.145Z,1761364482.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:42.400Z,1761364482.400 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:42.650Z,1761364482.650 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:42.861Z,1761364482.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862304,0.504807,-0.040031],[-0.506323,0.858184,-0.084603],[-0.008355,0.093222,0.995610]]
2025-10-25T03:54:42.878Z,1761364482.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:42.901Z,1761364482.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:43.153Z,1761364483.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:43.256Z,1761364483.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861953,0.505340,-0.040835],[-0.506933,0.857881,-0.084021],[-0.007428,0.093123,0.995627]]
2025-10-25T03:54:43.407Z,1761364483.407 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:43.657Z,1761364483.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:43.662Z,1761364483.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861928,0.505340,-0.041367],[-0.506982,0.857855,-0.083983],[-0.006953,0.093360,0.995608]]
2025-10-25T03:54:43.909Z,1761364483.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:44.067Z,1761364484.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861796,0.505501,-0.042152],[-0.507217,0.857718,-0.083974],[-0.006294,0.093749,0.995576]]
2025-10-25T03:54:44.161Z,1761364484.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:44.415Z,1761364484.415 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:44.476Z,1761364484.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861620,0.505736,-0.042915],[-0.507522,0.857538,-0.083959],[-0.005660,0.094121,0.995545]]
2025-10-25T03:54:44.665Z,1761364484.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:44.883Z,1761364484.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861352,0.506176,-0.043103],[-0.507980,0.857307,-0.083547],[-0.005337,0.093859,0.995571]]
2025-10-25T03:54:44.918Z,1761364484.918 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:44.920Z,1761364484.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:45.169Z,1761364485.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:45.277Z,1761364485.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860989,0.506778,-0.043293],[-0.508600,0.856989,-0.083042],[-0.004983,0.093517,0.995605]]
2025-10-25T03:54:45.423Z,1761364485.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:45.673Z,1761364485.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:45.928Z,1761364485.928 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:46.084Z,1761364486.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860096,0.508338,-0.042754],[-0.510108,0.856203,-0.081887],[-0.005020,0.092240,0.995724]]
2025-10-25T03:54:46.178Z,1761364486.178 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:46.431Z,1761364486.431 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:46.511Z,1761364486.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859684,0.509080,-0.042213],[-0.510801,0.855865,-0.081103],[-0.005159,0.091285,0.995811]]
2025-10-25T03:54:46.681Z,1761364486.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:46.891Z,1761364486.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859249,0.509777,-0.042658],[-0.511529,0.855310,-0.082356],[-0.005498,0.092585,0.995690]]
2025-10-25T03:54:46.934Z,1761364486.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:46.938Z,1761364486.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:47.185Z,1761364487.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:47.303Z,1761364487.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859010,0.510122,-0.043336],[-0.511934,0.855041,-0.082630],[-0.005097,0.093166,0.995638]]
2025-10-25T03:54:47.437Z,1761364487.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:47.478Z,1761364487.478 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:54:47.689Z,1761364487.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:47.702Z,1761364487.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858190,0.511489,-0.043454],[-0.513309,0.854276,-0.082011],[-0.004826,0.092687,0.995684]]
2025-10-25T03:54:47.941Z,1761364487.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:48.105Z,1761364488.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857810,0.512050,-0.044347],[-0.513945,0.853780,-0.083187],[-0.004733,0.094150,0.995547]]
2025-10-25T03:54:48.194Z,1761364488.194 [DAT](INFO): DAT read: Rx Time:03:54:47.2168

2025-10-25T03:54:48.195Z,1761364488.195 [DAT](INFO): Rx dataTimestamp_ set to:1761364488.194665
2025-10-25T03:54:48.195Z,1761364488.195 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:48.445Z,1761364488.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:48.483Z,1761364488.483 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:54:48.541Z,1761364488.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857170,0.513060,-0.045051],[-0.515017,0.853138,-0.083144],[-0.004224,0.094471,0.995519]]
2025-10-25T03:54:48.703Z,1761364488.703 [DAT](INFO): DAT read: 03:54:47.2168 LVL= 24176, 23409, 22962, 32755, AGC= 59, IDX= 218, 0.27, 1.095,-0.402, 1.080, 0.307, PHS= 0.876,-0.662, 0.770, RAW= 146.5, -13.2, CAL= 153.3, -21.4, ROT= 356.7,  21.4

2025-10-25T03:54:48.704Z,1761364488.704 [DAT](INFO): got valid direction response:
 03:54:47.2168 LVL= 24176, 23409, 22962, 32755, AGC= 59, IDX= 218, 0.27, 1.095,-0.402, 1.080, 0.307, PHS= 0.876,-0.662, 0.770, RAW= 146.5, -13.2, CAL= 153.3, -21.4, ROT= 356.7,  21.4

2025-10-25T03:54:48.705Z,1761364488.705 [DAT](INFO): DAT read: 

2025-10-25T03:54:48.706Z,1761364488.706 [DAT](INFO): DAT read: $Packet for address 11

2025-10-25T03:54:48.706Z,1761364488.706 [DAT](INFO): received a packet notification
2025-10-25T03:54:48.721Z,1761364488.721 [DAT](INFO): #Rx 24: Read direction message, but no range.
2025-10-25T03:54:48.722Z,1761364488.722 [DAT](INFO): direction in FSK: [0.929512,-0.053595,-0.364877]
2025-10-25T03:54:48.725Z,1761364488.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:48.914Z,1761364488.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856789,0.513633,-0.045765],[-0.515654,0.852736,-0.083322],[-0.003772,0.094988,0.995471]]
2025-10-25T03:54:48.948Z,1761364488.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:48.953Z,1761364488.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:49.202Z,1761364489.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:49.453Z,1761364489.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:49.705Z,1761364489.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:49.722Z,1761364489.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855634,0.515454,-0.046886],[-0.517575,0.851625,-0.082778],[-0.002739,0.095094,0.995465]]
2025-10-25T03:54:49.958Z,1761364489.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:50.124Z,1761364490.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855203,0.516096,-0.047676],[-0.518290,0.851214,-0.082527],[-0.002009,0.095287,0.995448]]
2025-10-25T03:54:50.209Z,1761364490.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:50.463Z,1761364490.463 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:50.557Z,1761364490.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854649,0.516923,-0.048642],[-0.519205,0.850649,-0.082600],[-0.001321,0.095849,0.995395]]
2025-10-25T03:54:50.713Z,1761364490.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:50.935Z,1761364490.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854377,0.517315,-0.049247],[-0.519653,0.850365,-0.082707],[-0.000907,0.096254,0.995356]]
2025-10-25T03:54:50.966Z,1761364490.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:50.970Z,1761364490.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:51.218Z,1761364491.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:51.338Z,1761364491.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854219,0.517501,-0.050015],[-0.519912,0.850196,-0.082814],[-0.000334,0.096745,0.995309]]
2025-10-25T03:54:51.469Z,1761364491.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:51.722Z,1761364491.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:51.746Z,1761364491.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853789,0.518223,-0.049895],[-0.520620,0.849901,-0.081388],[0.000229,0.095464,0.995433]]
2025-10-25T03:54:51.973Z,1761364491.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:52.145Z,1761364492.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853674,0.518390,-0.050127],[-0.520808,0.849783,-0.081415],[0.000392,0.095608,0.995419]]
2025-10-25T03:54:52.225Z,1761364492.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:52.477Z,1761364492.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:52.582Z,1761364492.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853400,0.518845,-0.050093],[-0.521257,0.849525,-0.081228],[0.000411,0.095431,0.995436]]
2025-10-25T03:54:52.729Z,1761364492.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:52.954Z,1761364492.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853665,0.518397,-0.050205],[-0.520822,0.849745,-0.081710],[0.000303,0.095901,0.995391]]
2025-10-25T03:54:52.981Z,1761364492.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:52.986Z,1761364492.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:53.234Z,1761364493.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:53.357Z,1761364493.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853761,0.518267,-0.049917],[-0.520665,0.849822,-0.081919],[-0.000036,0.095930,0.995388]]
2025-10-25T03:54:53.485Z,1761364493.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:53.737Z,1761364493.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:53.764Z,1761364493.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853986,0.517891,-0.049967],[-0.520296,0.850012,-0.082289],[-0.000145,0.096271,0.995355]]
2025-10-25T03:54:53.990Z,1761364493.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:54.165Z,1761364494.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853786,0.518257,-0.049586],[-0.520623,0.849847,-0.081927],[-0.000319,0.095763,0.995404]]
2025-10-25T03:54:54.241Z,1761364494.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:54.493Z,1761364494.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:54.614Z,1761364494.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854054,0.517830,-0.049440],[-0.520184,0.850133,-0.081745],[-0.000299,0.095533,0.995426]]
2025-10-25T03:54:54.746Z,1761364494.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:54.975Z,1761364494.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853875,0.518123,-0.049453],[-0.520477,0.849954,-0.081745],[-0.000321,0.095539,0.995426]]
2025-10-25T03:54:54.991Z,1761364494.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:54.998Z,1761364494.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:55.250Z,1761364495.250 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:55.378Z,1761364495.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853912,0.518011,-0.049999],[-0.520418,0.849968,-0.081973],[0.000034,0.096018,0.995380]]
2025-10-25T03:54:55.502Z,1761364495.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:55.753Z,1761364495.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:55.780Z,1761364495.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853915,0.517904,-0.051038],[-0.520413,0.849889,-0.082826],[0.000480,0.097287,0.995256]]
2025-10-25T03:54:56.005Z,1761364496.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:56.184Z,1761364496.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854206,0.517323,-0.052055],[-0.519934,0.850101,-0.083641],[0.000983,0.098512,0.995135]]
2025-10-25T03:54:56.258Z,1761364496.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:56.509Z,1761364496.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:56.642Z,1761364496.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854417,0.516819,-0.053571],[-0.519585,0.850183,-0.084973],[0.001629,0.100437,0.994942]]
2025-10-25T03:54:56.762Z,1761364496.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:56.998Z,1761364496.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854237,0.517054,-0.054169],[-0.519879,0.850008,-0.084921],[0.002135,0.100704,0.994914]]
2025-10-25T03:54:57.013Z,1761364497.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:57.018Z,1761364497.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:57.265Z,1761364497.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:57.407Z,1761364497.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854047,0.517316,-0.054665],[-0.520190,0.849843,-0.084678],[0.002651,0.100755,0.994908]]
2025-10-25T03:54:57.518Z,1761364497.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:57.771Z,1761364497.771 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:57.800Z,1761364497.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853950,0.517423,-0.055166],[-0.520346,0.849778,-0.084369],[0.003224,0.100752,0.994906]]
2025-10-25T03:54:58.022Z,1761364498.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:58.206Z,1761364498.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853671,0.517818,-0.055767],[-0.520798,0.849521,-0.084163],[0.003794,0.100891,0.994890]]
2025-10-25T03:54:58.273Z,1761364498.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:58.526Z,1761364498.526 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:58.657Z,1761364498.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853847,0.517470,-0.056296],[-0.520508,0.849657,-0.084590],[0.004060,0.101529,0.994824]]
2025-10-25T03:54:58.784Z,1761364498.784 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:59.014Z,1761364499.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853865,0.517352,-0.057112],[-0.520475,0.849630,-0.085056],[0.004520,0.102351,0.994738]]
2025-10-25T03:54:59.030Z,1761364499.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:54:59.033Z,1761364499.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:59.285Z,1761364499.285 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:59.418Z,1761364499.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853888,0.517206,-0.058081],[-0.520430,0.849630,-0.085327],[0.005216,0.103087,0.994659]]
2025-10-25T03:54:59.537Z,1761364499.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:59.789Z,1761364499.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:54:59.824Z,1761364499.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853700,0.517480,-0.058407],[-0.520736,0.849453,-0.085225],[0.005512,0.103171,0.994648]]
2025-10-25T03:55:00.041Z,1761364500.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:00.224Z,1761364500.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853835,0.517193,-0.058960],[-0.520507,0.849615,-0.085010],[0.006127,0.103273,0.994634]]
2025-10-25T03:55:00.294Z,1761364500.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:00.545Z,1761364500.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:00.641Z,1761364500.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853723,0.517345,-0.059252],[-0.520687,0.849523,-0.084825],[0.006452,0.103268,0.994633]]
2025-10-25T03:55:00.798Z,1761364500.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:01.042Z,1761364501.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853502,0.517671,-0.059585],[-0.521042,0.849369,-0.084192],[0.007026,0.102904,0.994666]]
2025-10-25T03:55:01.050Z,1761364501.050 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:01.108Z,1761364501.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:01.302Z,1761364501.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:01.438Z,1761364501.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853323,0.517895,-0.060203],[-0.521325,0.849236,-0.083777],[0.007739,0.102875,0.994664]]
2025-10-25T03:55:01.553Z,1761364501.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:01.809Z,1761364501.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:01.841Z,1761364501.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852737,0.518810,-0.060626],[-0.522267,0.848802,-0.082299],[0.008762,0.101842,0.994762]]
2025-10-25T03:55:02.057Z,1761364502.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:02.244Z,1761364502.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852529,0.519047,-0.061511],[-0.522590,0.848639,-0.081928],[0.009676,0.101992,0.994738]]
2025-10-25T03:55:02.310Z,1761364502.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:02.561Z,1761364502.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:02.654Z,1761364502.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851962,0.519844,-0.062638],[-0.523479,0.848258,-0.080181],[0.011452,0.101101,0.994810]]
2025-10-25T03:55:02.813Z,1761364502.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:03.065Z,1761364503.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:03.070Z,1761364503.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851412,0.520610,-0.063743],[-0.524343,0.847803,-0.079343],[0.012735,0.100977,0.994807]]
2025-10-25T03:55:03.130Z,1761364503.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:03.318Z,1761364503.318 [DAT](INFO): DAT read: Rx Time:03:55:02.3505

2025-10-25T03:55:03.319Z,1761364503.319 [DAT](INFO): Rx dataTimestamp_ set to:1761364503.318515
2025-10-25T03:55:03.319Z,1761364503.319 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:03.461Z,1761364503.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850770,0.521498,-0.065041],[-0.525346,0.847274,-0.078351],[0.014248,0.100828,0.994802]]
2025-10-25T03:55:03.569Z,1761364503.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:03.826Z,1761364503.826 [DAT](INFO): DAT read: 03:55:02.3505 LVL= 25552, 30049, 25282, 32755, AGC= 60, IDX= 412,-0.10,-0.805,-2.116,-0.805,-1.486, PHS= 0.769,-0.583, 0.678, RAW= 146.6, -13.1, CAL= 153.4, -21.4, ROT= 356.6,  21.4

2025-10-25T03:55:03.827Z,1761364503.827 [DAT](INFO): got valid direction response:
 03:55:02.3505 LVL= 25552, 30049, 25282, 32755, AGC= 60, IDX= 412,-0.10,-0.805,-2.116,-0.805,-1.486, PHS= 0.769,-0.583, 0.678, RAW= 146.6, -13.1, CAL= 153.4, -21.4, ROT= 356.6,  21.4

2025-10-25T03:55:03.828Z,1761364503.828 [DAT](INFO): DAT read: bearing request

2025-10-25T03:55:03.828Z,1761364503.828 [DAT](INFO): received a bearing request message
2025-10-25T03:55:03.829Z,1761364503.829 [DAT](INFO): DAT read: Tx time:03:55:03.9534

2025-10-25T03:55:03.829Z,1761364503.829 [DAT](INFO): Ping request sent.
2025-10-25T03:55:03.829Z,1761364503.829 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:03.830Z,1761364503.830 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-10-25T03:55:03.830Z,1761364503.830 [DAT](INFO): direction in FSK: [0.929417,-0.055218,-0.364877]
2025-10-25T03:55:03.831Z,1761364503.831 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:03.831Z,1761364503.831 [DAT](INFO): publishing range request flag
2025-10-25T03:55:03.835Z,1761364503.835 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:03.835Z,1761364503.835 [DAT](INFO): publishing range request flag
2025-10-25T03:55:03.881Z,1761364503.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850259,0.522114,-0.066753],[-0.526121,0.846859,-0.077629],[0.015999,0.101125,0.994745]]
2025-10-25T03:55:04.268Z,1761364504.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849870,0.522536,-0.068396],[-0.526697,0.846560,-0.076984],[0.017674,0.101450,0.994684]]
2025-10-25T03:55:04.669Z,1761364504.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849648,0.522653,-0.070223],[-0.526996,0.846395,-0.076755],[0.019320,0.102222,0.994574]]
2025-10-25T03:55:05.075Z,1761364505.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848569,0.523991,-0.073239],[-0.528648,0.845330,-0.077130],[0.021495,0.104168,0.994327]]
2025-10-25T03:55:05.143Z,1761364505.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:05.335Z,1761364505.335 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:05.335Z,1761364505.335 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:05.335Z,1761364505.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:05.489Z,1761364505.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847483,0.525463,-0.075239],[-0.530260,0.844559,-0.074454],[0.024421,0.102995,0.994382]]
2025-10-25T03:55:05.585Z,1761364505.585 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:05.585Z,1761364505.585 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:05.586Z,1761364505.586 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:05.837Z,1761364505.837 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:05.837Z,1761364505.837 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:05.838Z,1761364505.838 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:05.881Z,1761364505.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847560,0.525050,-0.077227],[-0.530051,0.844704,-0.074303],[0.026221,0.103911,0.994241]]
2025-10-25T03:55:06.049Z,1761364506.049 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:55:06.089Z,1761364506.089 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:06.089Z,1761364506.089 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:06.089Z,1761364506.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:06.285Z,1761364506.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848336,0.523564,-0.078790],[-0.528745,0.845482,-0.074751],[0.027479,0.105074,0.994085]]
2025-10-25T03:55:06.341Z,1761364506.341 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:06.342Z,1761364506.342 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:06.342Z,1761364506.342 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:06.593Z,1761364506.593 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:06.593Z,1761364506.593 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:06.593Z,1761364506.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:06.690Z,1761364506.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849381,0.521512,-0.081104],[-0.526985,0.846462,-0.076085],[0.028972,0.107366,0.993797]]
2025-10-25T03:55:06.849Z,1761364506.849 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:06.850Z,1761364506.850 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:06.850Z,1761364506.850 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:07.091Z,1761364507.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850038,0.520227,-0.082461],[-0.525861,0.847130,-0.076422],[0.030099,0.108325,0.993660]]
2025-10-25T03:55:07.097Z,1761364507.097 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:07.097Z,1761364507.097 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:07.097Z,1761364507.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:07.174Z,1761364507.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:07.350Z,1761364507.350 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:07.350Z,1761364507.350 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:07.350Z,1761364507.350 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:07.497Z,1761364507.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850806,0.518719,-0.084019],[-0.524545,0.847900,-0.076933],[0.031333,0.109527,0.993490]]
2025-10-25T03:55:07.602Z,1761364507.602 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:07.602Z,1761364507.602 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:07.602Z,1761364507.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:07.853Z,1761364507.853 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:07.853Z,1761364507.853 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:07.854Z,1761364507.854 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:07.914Z,1761364507.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851735,0.517078,-0.084725],[-0.522933,0.849041,-0.075304],[0.032997,0.108444,0.993555]]
2025-10-25T03:55:08.105Z,1761364508.105 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:08.105Z,1761364508.105 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:08.105Z,1761364508.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:08.312Z,1761364508.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852386,0.515898,-0.085368],[-0.521777,0.849878,-0.073868],[0.034444,0.107507,0.993608]]
2025-10-25T03:55:08.370Z,1761364508.370 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:08.370Z,1761364508.370 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:08.371Z,1761364508.371 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:08.621Z,1761364508.621 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:08.621Z,1761364508.621 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:08.622Z,1761364508.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:08.708Z,1761364508.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853008,0.514665,-0.086587],[-0.520688,0.850527,-0.074077],[0.035520,0.108274,0.993486]]
2025-10-25T03:55:08.873Z,1761364508.873 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:08.873Z,1761364508.873 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:08.873Z,1761364508.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:09.114Z,1761364509.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853346,0.513927,-0.087634],[-0.520047,0.850963,-0.073566],[0.036765,0.108351,0.993433]]
2025-10-25T03:55:09.125Z,1761364509.125 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:09.125Z,1761364509.125 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:09.126Z,1761364509.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:09.182Z,1761364509.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:09.377Z,1761364509.377 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:09.377Z,1761364509.377 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:09.378Z,1761364509.378 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:09.520Z,1761364509.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853893,0.512911,-0.088258],[-0.519057,0.851669,-0.072391],[0.038037,0.107626,0.993464]]
2025-10-25T03:55:09.629Z,1761364509.629 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:09.629Z,1761364509.629 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:09.629Z,1761364509.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:09.881Z,1761364509.881 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:09.881Z,1761364509.881 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:09.881Z,1761364509.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:09.921Z,1761364509.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854004,0.512576,-0.089126],[-0.518769,0.851946,-0.071180],[0.039445,0.107024,0.993474]]
2025-10-25T03:55:10.133Z,1761364510.133 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:10.133Z,1761364510.133 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:10.134Z,1761364510.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:10.326Z,1761364510.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854212,0.512069,-0.090040],[-0.518335,0.852266,-0.070508],[0.040633,0.106900,0.993439]]
2025-10-25T03:55:10.385Z,1761364510.385 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:10.385Z,1761364510.385 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:10.386Z,1761364510.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:10.637Z,1761364510.637 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:10.638Z,1761364510.638 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:10.638Z,1761364510.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:10.731Z,1761364510.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854519,0.511593,-0.089832],[-0.517743,0.852812,-0.068221],[0.041708,0.104806,0.993618]]
2025-10-25T03:55:10.890Z,1761364510.890 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:10.890Z,1761364510.890 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:10.890Z,1761364510.890 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:11.141Z,1761364511.141 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:11.141Z,1761364511.141 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:11.141Z,1761364511.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:11.245Z,1761364511.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:11.393Z,1761364511.393 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:11.393Z,1761364511.393 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:11.393Z,1761364511.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:11.540Z,1761364511.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854268,0.511698,-0.091609],[-0.517925,0.852898,-0.065719],[0.044505,0.103588,0.993624]]
2025-10-25T03:55:11.647Z,1761364511.647 [DAT](INFO): DAT read: Rx Time:03:55:10.5584

2025-10-25T03:55:11.647Z,1761364511.647 [DAT](INFO): Rx dataTimestamp_ set to:1761364511.646727
2025-10-25T03:55:11.647Z,1761364511.647 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:11.647Z,1761364511.647 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:11.648Z,1761364511.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:11.897Z,1761364511.897 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:11.897Z,1761364511.897 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:11.897Z,1761364511.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:11.941Z,1761364511.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854245,0.511598,-0.092376],[-0.517883,0.852960,-0.065235],[0.045419,0.103567,0.993585]]
2025-10-25T03:55:12.154Z,1761364512.154 [DAT](INFO): DAT read: 03:55:10.5584 LVL= 24960, 32753, 24434, 32755, AGC= 60, IDX= 434,-0.20,-2.170, 2.548,-2.149,-2.790, PHS= 0.708,-0.898, 0.637, RAW= 147.8,  -5.7, CAL= 153.0, -14.4, ROT= 357.0,  14.4

2025-10-25T03:55:12.155Z,1761364512.155 [DAT](INFO): got valid direction response:
 03:55:10.5584 LVL= 24960, 32753, 24434, 32755, AGC= 60, IDX= 434,-0.20,-2.170, 2.548,-2.149,-2.790, PHS= 0.708,-0.898, 0.637, RAW= 147.8,  -5.7, CAL= 153.0, -14.4, ROT= 357.0,  14.4

2025-10-25T03:55:12.155Z,1761364512.155 [DAT](INFO): DAT read: 

2025-10-25T03:55:12.156Z,1761364512.156 [DAT](INFO): DAT read: $Packet for address 11

2025-10-25T03:55:12.156Z,1761364512.156 [DAT](INFO): received a packet notification
2025-10-25T03:55:12.169Z,1761364512.169 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-10-25T03:55:12.170Z,1761364512.170 [DAT](INFO): direction in FSK: [0.967256,-0.050692,-0.248690]
2025-10-25T03:55:12.186Z,1761364512.186 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:12.186Z,1761364512.186 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:12.186Z,1761364512.186 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:12.346Z,1761364512.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854193,0.511449,-0.093670],[-0.517861,0.852986,-0.065071],[0.046619,0.104091,0.993475]]
2025-10-25T03:55:12.402Z,1761364512.402 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:12.402Z,1761364512.402 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:12.402Z,1761364512.402 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:12.653Z,1761364512.653 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:12.653Z,1761364512.653 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:12.654Z,1761364512.654 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:12.751Z,1761364512.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853983,0.511600,-0.094755],[-0.518112,0.852857,-0.064766],[0.047678,0.104403,0.993392]]
2025-10-25T03:55:12.905Z,1761364512.905 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:12.905Z,1761364512.905 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:12.905Z,1761364512.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:13.153Z,1761364513.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853753,0.511770,-0.095907],[-0.518391,0.852705,-0.064534],[0.048753,0.104813,0.993296]]
2025-10-25T03:55:13.157Z,1761364513.157 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:13.158Z,1761364513.158 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:13.158Z,1761364513.158 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:13.263Z,1761364513.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:13.409Z,1761364513.409 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:13.409Z,1761364513.409 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:13.409Z,1761364513.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:13.564Z,1761364513.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853447,0.511670,-0.099104],[-0.518683,0.852451,-0.065534],[0.050949,0.107333,0.992917]]
2025-10-25T03:55:13.669Z,1761364513.669 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:13.669Z,1761364513.669 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:13.669Z,1761364513.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:13.921Z,1761364513.921 [DAT](INFO): Reached modem response timeout
2025-10-25T03:55:13.922Z,1761364513.922 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:13.922Z,1761364513.922 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:13.922Z,1761364513.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:13.966Z,1761364513.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853526,0.511151,-0.101084],[-0.518456,0.852478,-0.066976],[0.051937,0.109573,0.992621]]
2025-10-25T03:55:14.176Z,1761364514.176 [DAT](INFO): DAT read: 

2025-10-25T03:55:14.177Z,1761364514.177 [DAT](INFO): DAT read: Tx time:03:55:13.6193

2025-10-25T03:55:14.177Z,1761364514.177 [DAT](INFO): Ping request sent.
2025-10-25T03:55:14.177Z,1761364514.177 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:14.178Z,1761364514.178 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:14.178Z,1761364514.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-25T03:55:14.375Z,1761364514.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853513,0.510835,-0.102780],[-0.518361,0.852487,-0.067590],[0.053091,0.110965,0.992405]]
2025-10-25T03:55:14.426Z,1761364514.426 [DAT](INFO): DAT read: TxSync time:03:55:13.6185

2025-10-25T03:55:14.426Z,1761364514.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249085
2025-10-25T03:55:14.678Z,1761364514.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500150
2025-10-25T03:55:14.769Z,1761364514.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854352,0.508820,-0.105754],[-0.516804,0.853255,-0.069778],[0.054731,0.114269,0.991941]]
2025-10-25T03:55:14.929Z,1761364514.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752084
2025-10-25T03:55:15.175Z,1761364515.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854288,0.508429,-0.108129],[-0.516702,0.853297,-0.070025],[0.056663,0.115692,0.991668]]
2025-10-25T03:55:15.182Z,1761364515.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004165
2025-10-25T03:55:15.435Z,1761364515.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257614
2025-10-25T03:55:15.576Z,1761364515.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855455,0.506021,-0.110181],[-0.514629,0.854418,-0.071595],[0.057912,0.117949,0.991330]]
2025-10-25T03:55:15.606Z,1761364515.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:15.689Z,1761364515.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512054
2025-10-25T03:55:15.942Z,1761364515.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764385
2025-10-25T03:55:15.980Z,1761364515.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856747,0.503760,-0.110498],[-0.512444,0.855681,-0.072193],[0.058184,0.118475,0.991251]]
2025-10-25T03:55:16.194Z,1761364516.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016154
2025-10-25T03:55:16.384Z,1761364516.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858655,0.500428,-0.110831],[-0.509226,0.857497,-0.073396],[0.058308,0.119460,0.991125]]
2025-10-25T03:55:16.446Z,1761364516.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268189
2025-10-25T03:55:16.698Z,1761364516.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520101
2025-10-25T03:55:16.790Z,1761364516.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860467,0.497312,-0.110801],[-0.506171,0.859216,-0.074419],[0.058193,0.120119,0.991052]]
2025-10-25T03:55:16.951Z,1761364516.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773180
2025-10-25T03:55:17.193Z,1761364517.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862640,0.493510,-0.110904],[-0.502486,0.861231,-0.076087],[0.057964,0.121363,0.990914]]
2025-10-25T03:55:17.202Z,1761364517.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024468
2025-10-25T03:55:17.454Z,1761364517.454 [DAT](INFO): DAT read: Rx Time:03:55:16.5414

2025-10-25T03:55:17.454Z,1761364517.454 [DAT](INFO): Rx dataTimestamp_ set to:1761364517.453838
2025-10-25T03:55:17.455Z,1761364517.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277260
2025-10-25T03:55:17.596Z,1761364517.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864494,0.490408,-0.110225],[-0.499329,0.863030,-0.076482],[0.057620,0.121157,0.990960]]
2025-10-25T03:55:17.616Z,1761364517.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:17.706Z,1761364517.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528446
2025-10-25T03:55:17.961Z,1761364517.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783195
2025-10-25T03:55:18.030Z,1761364518.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866709,0.486647,-0.109504],[-0.495539,0.865132,-0.077383],[0.057077,0.121332,0.990970]]
2025-10-25T03:55:18.215Z,1761364518.215 [DAT](INFO): DAT read: 03:55:16.5414 LVL= 25840, 31569, 20850, 32755, AGC= 58, IDX= 447,-0.12, 1.490,-0.036, 1.564, 0.838, PHS= 0.739,-0.827, 0.723, RAW= 149.5,  -8.2, CAL= 155.4, -16.4, ROT= 354.6,  16.4

2025-10-25T03:55:18.217Z,1761364518.217 [DAT](INFO): got valid direction response:
 03:55:16.5414 LVL= 25840, 31569, 20850, 32755, AGC= 58, IDX= 447,-0.12, 1.490,-0.036, 1.564, 0.838, PHS= 0.739,-0.827, 0.723, RAW= 149.5,  -8.2, CAL= 155.4, -16.4, ROT= 354.6,  16.4

2025-10-25T03:55:18.218Z,1761364518.218 [DAT](INFO): DAT read: Bearing 354.6,  16.4 (Local)

2025-10-25T03:55:18.218Z,1761364518.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  16.4 (Local)

2025-10-25T03:55:18.220Z,1761364518.220 [DAT](INFO): DAT read: Range 10 to 50 : 388.3 m  (Round-trip  517.8 ms) speed  0.4 m/s

2025-10-25T03:55:18.220Z,1761364518.220 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:18.222Z,1761364518.222 [DAT](INFO): direction in FSK: [0.955057,-0.090279,-0.282341]
2025-10-25T03:55:18.222Z,1761364518.222 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:18.226Z,1761364518.226 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:18.226Z,1761364518.226 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:18.226Z,1761364518.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:18.407Z,1761364518.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868485,0.483724,-0.108372],[-0.492487,0.866867,-0.077447],[0.056481,0.120633,0.991089]]
2025-10-25T03:55:18.470Z,1761364518.470 [DAT](INFO): DAT read: user:185>

2025-10-25T03:55:18.470Z,1761364518.470 [DAT](INFO): DAT read: Tx time:03:55:17.9194

2025-10-25T03:55:18.471Z,1761364518.471 [DAT](INFO): Ping request sent.
2025-10-25T03:55:18.471Z,1761364518.471 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:18.471Z,1761364518.471 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:18.472Z,1761364518.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-10-25T03:55:18.601Z,1761364518.601 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:55:18.722Z,1761364518.722 [DAT](INFO): DAT read: TxSync time:03:55:17.9186

2025-10-25T03:55:18.723Z,1761364518.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252058
2025-10-25T03:55:18.810Z,1761364518.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870060,0.481146,-0.107214],[-0.489742,0.868470,-0.076890],[0.056117,0.119406,0.991258]]
2025-10-25T03:55:18.855Z,1761364518.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-10-25T03:55:18.855Z,1761364518.855 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-25T03:55:18.856Z,1761364518.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-10-25T03:55:18.856Z,1761364518.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 388.299988 m 
2025-10-25T03:55:18.856Z,1761364518.856 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-10-25T03:55:18.857Z,1761364518.857 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-10-25T03:55:18.976Z,1761364518.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504751
2025-10-25T03:55:19.213Z,1761364519.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871487,0.479736,-0.101801],[-0.487190,0.870671,-0.067660],[0.056176,0.108561,0.992501]]
2025-10-25T03:55:19.226Z,1761364519.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755030
2025-10-25T03:55:19.288Z,1761364519.288 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-10-25T03:55:19.289Z,1761364519.289 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-25T03:55:19.289Z,1761364519.289 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-10-25T03:55:19.289Z,1761364519.289 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-10-25T03:55:19.482Z,1761364519.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010119
2025-10-25T03:55:19.605Z,1761364519.605 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:55:19.621Z,1761364519.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873316,0.476474,-0.101446],[-0.483974,0.872350,-0.069097],[0.055574,0.109440,0.992439]]
2025-10-25T03:55:19.643Z,1761364519.643 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-25T03:55:19.643Z,1761364519.643 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-25T03:55:19.643Z,1761364519.643 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-10-25T03:55:19.644Z,1761364519.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-10-25T03:55:19.646Z,1761364519.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-10-25T03:55:19.647Z,1761364519.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-10-25T03:55:19.648Z,1761364519.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-10-25T03:55:19.648Z,1761364519.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-10-25T03:55:19.648Z,1761364519.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-10-25T03:55:19.648Z,1761364519.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-10-25T03:55:19.648Z,1761364519.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-10-25T03:55:19.649Z,1761364519.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-10-25T03:55:19.649Z,1761364519.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-10-25T03:55:19.650Z,1761364519.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-10-25T03:55:19.651Z,1761364519.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-10-25T03:55:19.651Z,1761364519.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-10-25T03:55:19.651Z,1761364519.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-10-25T03:55:19.651Z,1761364519.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-10-25T03:55:19.651Z,1761364519.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-25T03:55:19.652Z,1761364519.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T03:55:19.653Z,1761364519.653 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-25T03:55:19.654Z,1761364519.654 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-25T03:55:19.654Z,1761364519.654 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-25T03:55:19.654Z,1761364519.654 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-25T03:55:19.654Z,1761364519.654 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-25T03:55:19.730Z,1761364519.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056
2025-10-25T03:55:19.985Z,1761364519.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512963
2025-10-25T03:55:20.023Z,1761364520.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875450,0.472721,-0.100608],[-0.480223,0.874290,-0.070733],[0.054524,0.110237,0.992409]]
2025-10-25T03:55:20.077Z,1761364520.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.299988 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-10-25T03:55:20.080Z,1761364520.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 387.175598 m,
      bearing: 327.168996 deg,
      lat: 36.779542 deg,
      lon: -121.859864 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-10-25T03:55:20.093Z,1761364520.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:20.095Z,1761364520.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 390.228333 m,
      bearing: 331.570836 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.005693 deg,
      new cmd heading: 331.570836 deg.

2025-10-25T03:55:20.096Z,1761364520.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787003 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:20.133Z,1761364520.133 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-10-25T03:55:20.134Z,1761364520.134 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-10-25T03:55:20.235Z,1761364520.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763781
2025-10-25T03:55:20.426Z,1761364520.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877261,0.469539,-0.099734],[-0.477040,0.875894,-0.072411],[0.053356,0.111101,0.992376]]
2025-10-25T03:55:20.448Z,1761364520.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:20.451Z,1761364520.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 390.012085 m,
      bearing: 331.568666 deg,
      approach rate: -0.582146 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.570823 deg,
      new cmd heading: 331.568666 deg.

2025-10-25T03:55:20.451Z,1761364520.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786965 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:20.485Z,1761364520.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014620
2025-10-25T03:55:20.738Z,1761364520.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266761
2025-10-25T03:55:20.829Z,1761364520.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877380,0.468574,-0.103165],[-0.476739,0.875632,-0.077388],[0.054072,0.117082,0.991649]]
2025-10-25T03:55:20.864Z,1761364520.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:20.868Z,1761364520.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 389.770599 m,
      bearing: 331.566206 deg,
      approach rate: -0.580915 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.568665 deg,
      new cmd heading: 331.566206 deg.

2025-10-25T03:55:20.869Z,1761364520.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786922 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:20.992Z,1761364520.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520992
2025-10-25T03:55:21.025Z,1761364521.025 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-10-25T03:55:21.142Z,1761364521.142 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-10-25T03:55:21.241Z,1761364521.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770585
2025-10-25T03:55:21.328Z,1761364521.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877791,0.466990,-0.106787],[-0.475970,0.875424,-0.084170],[0.054177,0.124711,0.990713]]
2025-10-25T03:55:21.388Z,1761364521.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:21.395Z,1761364521.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 389.454163 m,
      bearing: 331.566310 deg,
      approach rate: -0.604732 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.566206 deg,
      new cmd heading: 331.566310 deg.

2025-10-25T03:55:21.396Z,1761364521.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786924 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:21.495Z,1761364521.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024376
2025-10-25T03:55:21.718Z,1761364521.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878109,0.465709,-0.109726],[-0.475403,0.875127,-0.090241],[0.053998,0.131406,0.989857]]
2025-10-25T03:55:21.746Z,1761364521.746 [DAT](INFO): DAT read: Rx Time:03:55:20.8380

2025-10-25T03:55:21.746Z,1761364521.746 [DAT](INFO): Rx dataTimestamp_ set to:1761364521.745819
2025-10-25T03:55:21.747Z,1761364521.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275848
2025-10-25T03:55:21.762Z,1761364521.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:21.764Z,1761364521.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:21.769Z,1761364521.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 389.204620 m,
      bearing: 331.566334 deg,
      approach rate: -0.661918 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.566315 deg,
      new cmd heading: 331.566334 deg.

2025-10-25T03:55:21.770Z,1761364521.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786924 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:22.001Z,1761364522.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529399
2025-10-25T03:55:22.163Z,1761364522.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878248,0.465093,-0.111212],[-0.475255,0.874690,-0.095134],[0.053030,0.136405,0.989233]]
2025-10-25T03:55:22.251Z,1761364522.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779780
2025-10-25T03:55:22.270Z,1761364522.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:22.294Z,1761364522.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 388.919159 m,
      bearing: 331.570017 deg,
      approach rate: -0.579769 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.566342 deg,
      new cmd heading: 331.570017 deg.

2025-10-25T03:55:22.295Z,1761364522.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786988 target range: 387.175598 and range: 388.30 m.
2025-10-25T03:55:22.505Z,1761364522.505 [DAT](INFO): DAT read: Range 10 to 50 : 385.8 m  (Round-trip  514.5 ms) speed  0.4 m/s

2025-10-25T03:55:22.507Z,1761364522.507 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T03:55:22.509Z,1761364522.509 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:22.509Z,1761364522.509 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:22.510Z,1761364522.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:22.628Z,1761364522.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878186,0.465160,-0.111431],[-0.475537,0.874148,-0.098637],[0.051525,0.139611,0.988865]]
2025-10-25T03:55:22.665Z,1761364522.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 385.799988 m,
      deltaT: 4.293426 s,
      deltaX: -2.500000 m,
      approachRate: -0.582286 m/s,
      rangeRepo size: 2

2025-10-25T03:55:22.666Z,1761364522.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:22.669Z,1761364522.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 388.626373 m,
      bearing: 331.573791 deg,
      approach rate: -0.718450 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.570003 deg,
      new cmd heading: 331.573791 deg.

2025-10-25T03:55:22.670Z,1761364522.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787055 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:22.754Z,1761364522.754 [DAT](INFO): DAT read: user:186>

2025-10-25T03:55:22.755Z,1761364522.755 [DAT](INFO): DAT read: Tx time:03:55:22.2194

2025-10-25T03:55:22.755Z,1761364522.755 [DAT](INFO): Ping request sent.
2025-10-25T03:55:22.755Z,1761364522.755 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:22.755Z,1761364522.755 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:22.756Z,1761364522.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-25T03:55:23.009Z,1761364523.009 [DAT](INFO): DAT read: TxSync time:03:55:22.2186

2025-10-25T03:55:23.012Z,1761364523.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256551
2025-10-25T03:55:23.171Z,1761364523.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:23.178Z,1761364523.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 388.311432 m,
      bearing: 331.581512 deg,
      approach rate: -0.621619 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.573801 deg,
      new cmd heading: 331.581512 deg.

2025-10-25T03:55:23.178Z,1761364523.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787189 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:23.258Z,1761364523.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502539
2025-10-25T03:55:23.446Z,1761364523.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878702,0.465210,-0.107064],[-0.475127,0.874011,-0.101779],[0.046227,0.140302,0.989029]]
2025-10-25T03:55:23.468Z,1761364523.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:23.471Z,1761364523.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 388.105896 m,
      bearing: 331.586539 deg,
      approach rate: -0.690480 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.581505 deg,
      new cmd heading: 331.586539 deg.

2025-10-25T03:55:23.472Z,1761364523.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787277 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:23.511Z,1761364523.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755725
2025-10-25T03:55:23.762Z,1761364523.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006570
2025-10-25T03:55:23.867Z,1761364523.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879059,0.464565,-0.106929],[-0.474589,0.873992,-0.104421],[0.044945,0.142539,0.988768]]
2025-10-25T03:55:23.885Z,1761364523.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:23.887Z,1761364523.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:23.890Z,1761364523.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 387.835785 m,
      bearing: 331.593115 deg,
      approach rate: -0.645040 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.586532 deg,
      new cmd heading: 331.593115 deg.

2025-10-25T03:55:23.890Z,1761364523.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787392 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:24.017Z,1761364524.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260992
2025-10-25T03:55:24.266Z,1761364524.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510477
2025-10-25T03:55:24.366Z,1761364524.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:24.368Z,1761364524.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 387.538177 m,
      bearing: 331.603271 deg,
      approach rate: -0.621616 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.593117 deg,
      new cmd heading: 331.603271 deg.

2025-10-25T03:55:24.369Z,1761364524.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787569 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:24.518Z,1761364524.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762537
2025-10-25T03:55:24.657Z,1761364524.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879460,0.465232,-0.100546],[-0.474276,0.874370,-0.102664],[0.040152,0.137975,0.989622]]
2025-10-25T03:55:24.695Z,1761364524.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:24.702Z,1761364524.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 387.337128 m,
      bearing: 331.610139 deg,
      approach rate: -0.610993 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.603280 deg,
      new cmd heading: 331.610139 deg.

2025-10-25T03:55:24.703Z,1761364524.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787689 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:24.737Z,1761364524.737 [DockingStepper](INFO): Changing to mode: 1
2025-10-25T03:55:24.770Z,1761364524.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015319
2025-10-25T03:55:25.021Z,1761364525.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266478
2025-10-25T03:55:25.102Z,1761364525.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879409,0.466118,-0.096819],[-0.474529,0.874584,-0.099624],[0.038240,0.133553,0.990304]]
2025-10-25T03:55:25.152Z,1761364525.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:25.154Z,1761364525.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 387.061462 m,
      bearing: 331.620621 deg,
      approach rate: -0.603501 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.610137 deg,
      new cmd heading: 331.620621 deg.

2025-10-25T03:55:25.155Z,1761364525.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787872 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:25.274Z,1761364525.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518588
2025-10-25T03:55:25.472Z,1761364525.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879053,0.467346,-0.094091],[-0.475300,0.874432,-0.097257],[0.036824,0.130215,0.990802]]
2025-10-25T03:55:25.494Z,1761364525.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:25.513Z,1761364525.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 386.862549 m,
      bearing: 331.628224 deg,
      approach rate: -0.580948 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.620629 deg,
      new cmd heading: 331.628224 deg.

2025-10-25T03:55:25.514Z,1761364525.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788004 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:25.526Z,1761364525.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770630
2025-10-25T03:55:25.778Z,1761364525.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022852
2025-10-25T03:55:25.859Z,1761364525.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878758,0.468309,-0.092037],[-0.475910,0.874345,-0.095025],[0.035971,0.127306,0.991211]]
2025-10-25T03:55:25.885Z,1761364525.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:25.887Z,1761364525.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:25.890Z,1761364525.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 386.631165 m,
      bearing: 331.637103 deg,
      approach rate: -0.588233 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.628224 deg,
      new cmd heading: 331.637103 deg.

2025-10-25T03:55:25.891Z,1761364525.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788159 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:26.033Z,1761364526.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277089
2025-10-25T03:55:26.275Z,1761364526.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878434,0.469316,-0.089975],[-0.476578,0.874200,-0.092991],[0.035014,0.124567,0.991593]]
2025-10-25T03:55:26.282Z,1761364526.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527029
2025-10-25T03:55:26.342Z,1761364526.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:26.345Z,1761364526.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 386.375000 m,
      bearing: 331.644763 deg,
      approach rate: -0.563156 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.637103 deg,
      new cmd heading: 331.644763 deg.

2025-10-25T03:55:26.346Z,1761364526.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788293 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:26.535Z,1761364526.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779605
2025-10-25T03:55:26.668Z,1761364526.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878466,0.469537,-0.088499],[-0.476569,0.874343,-0.091683],[0.034330,0.122716,0.991848]]
2025-10-25T03:55:26.689Z,1761364526.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:26.691Z,1761364526.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 386.179413 m,
      bearing: 331.650616 deg,
      approach rate: -0.564946 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.644753 deg,
      new cmd heading: 331.650616 deg.

2025-10-25T03:55:26.692Z,1761364526.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788395 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:26.786Z,1761364526.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009
2025-10-25T03:55:27.038Z,1761364527.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282586
2025-10-25T03:55:27.143Z,1761364527.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878286,0.470123,-0.087165],[-0.476950,0.874256,-0.090525],[0.033647,0.121080,0.992072]]
2025-10-25T03:55:27.205Z,1761364527.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:27.207Z,1761364527.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 385.914429 m,
      bearing: 331.655828 deg,
      approach rate: -0.534937 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.650627 deg,
      new cmd heading: 331.655828 deg.

2025-10-25T03:55:27.208Z,1761364527.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788486 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:27.291Z,1761364527.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535411
2025-10-25T03:55:27.499Z,1761364527.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878527,0.470010,-0.085329],[-0.476562,0.874634,-0.088905],[0.032846,0.118770,0.992378]]
2025-10-25T03:55:27.518Z,1761364527.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:27.541Z,1761364527.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786490
2025-10-25T03:55:27.542Z,1761364527.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 385.735382 m,
      bearing: 331.659336 deg,
      approach rate: -0.536321 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.655818 deg,
      new cmd heading: 331.659336 deg.

2025-10-25T03:55:27.548Z,1761364527.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788548 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:27.794Z,1761364527.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039260
2025-10-25T03:55:27.901Z,1761364527.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878974,0.469409,-0.084018],[-0.475768,0.875193,-0.087646],[0.032390,0.117011,0.992602]]
2025-10-25T03:55:27.919Z,1761364527.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:27.921Z,1761364527.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:27.924Z,1761364527.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 385.520020 m,
      bearing: 331.663526 deg,
      approach rate: -0.533656 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.659342 deg,
      new cmd heading: 331.663526 deg.

2025-10-25T03:55:27.925Z,1761364527.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788620 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:28.047Z,1761364528.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292083
2025-10-25T03:55:28.298Z,1761364528.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542900
2025-10-25T03:55:28.318Z,1761364528.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879671,0.468329,-0.082747],[-0.474531,0.875904,-0.087251],[0.031616,0.116018,0.992744]]
2025-10-25T03:55:28.377Z,1761364528.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:28.379Z,1761364528.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 385.284332 m,
      bearing: 331.664978 deg,
      approach rate: -0.517694 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.663522 deg,
      new cmd heading: 331.664978 deg.

2025-10-25T03:55:28.380Z,1761364528.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788646 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:28.549Z,1761364528.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794465
2025-10-25T03:55:28.709Z,1761364528.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880318,0.467319,-0.081563],[-0.473385,0.876534,-0.087154],[0.030764,0.115334,0.992850]]
2025-10-25T03:55:28.743Z,1761364528.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:28.746Z,1761364528.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 385.103333 m,
      bearing: 331.666057 deg,
      approach rate: -0.493511 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.664970 deg,
      new cmd heading: 331.666057 deg.

2025-10-25T03:55:28.747Z,1761364528.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788665 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:28.803Z,1761364528.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047479
2025-10-25T03:55:29.054Z,1761364529.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298566
2025-10-25T03:55:29.163Z,1761364529.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881318,0.465734,-0.079819],[-0.471597,0.877525,-0.086864],[0.029587,0.114197,0.993017]]
2025-10-25T03:55:29.232Z,1761364529.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:29.236Z,1761364529.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 384.859680 m,
      bearing: 331.665120 deg,
      approach rate: -0.501873 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.666063 deg,
      new cmd heading: 331.665120 deg.

2025-10-25T03:55:29.237Z,1761364529.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788648 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:29.306Z,1761364529.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551065
2025-10-25T03:55:29.532Z,1761364529.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882056,0.464599,-0.078263],[-0.470279,0.878270,-0.086489],[0.028553,0.113093,0.993174]]
2025-10-25T03:55:29.550Z,1761364529.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:29.555Z,1761364529.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 384.695648 m,
      bearing: 331.664451 deg,
      approach rate: -0.510137 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.665107 deg,
      new cmd heading: 331.664451 deg.

2025-10-25T03:55:29.558Z,1761364529.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803308
2025-10-25T03:55:29.559Z,1761364529.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788637 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:29.810Z,1761364529.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055046
2025-10-25T03:55:29.935Z,1761364529.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882858,0.463328,-0.076741],[-0.468829,0.879087,-0.086054],[0.027590,0.111952,0.993331]]
2025-10-25T03:55:29.953Z,1761364529.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:29.955Z,1761364529.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:29.958Z,1761364529.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 384.496277 m,
      bearing: 331.663587 deg,
      approach rate: -0.492775 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.664451 deg,
      new cmd heading: 331.663587 deg.

2025-10-25T03:55:29.958Z,1761364529.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788621 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:30.062Z,1761364530.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306597
2025-10-25T03:55:30.314Z,1761364530.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559068
2025-10-25T03:55:30.341Z,1761364530.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883275,0.462833,-0.074903],[-0.468114,0.879532,-0.085397],[0.026355,0.110492,0.993528]]
2025-10-25T03:55:30.401Z,1761364530.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:30.404Z,1761364530.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 384.275055 m,
      bearing: 331.662598 deg,
      approach rate: -0.495284 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.663577 deg,
      new cmd heading: 331.662598 deg.

2025-10-25T03:55:30.405Z,1761364530.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788604 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:30.566Z,1761364530.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810563
2025-10-25T03:55:30.741Z,1761364530.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883918,0.461873,-0.073221],[-0.466968,0.880157,-0.085230],[0.025081,0.109529,0.993667]]
2025-10-25T03:55:30.770Z,1761364530.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:30.772Z,1761364530.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 384.092499 m,
      bearing: 331.661744 deg,
      approach rate: -0.495954 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.662593 deg,
      new cmd heading: 331.661744 deg.

2025-10-25T03:55:30.773Z,1761364530.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788589 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:30.819Z,1761364530.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063178
2025-10-25T03:55:31.070Z,1761364531.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314868
2025-10-25T03:55:31.191Z,1761364531.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884107,0.461819,-0.071257],[-0.466677,0.880403,-0.084278],[0.023814,0.107765,0.993891]]
2025-10-25T03:55:31.264Z,1761364531.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:31.271Z,1761364531.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 383.842804 m,
      bearing: 331.659788 deg,
      approach rate: -0.505076 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.661746 deg,
      new cmd heading: 331.659788 deg.

2025-10-25T03:55:31.271Z,1761364531.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788555 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:31.325Z,1761364531.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570493
2025-10-25T03:55:31.558Z,1761364531.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883982,0.462294,-0.069715],[-0.466964,0.880334,-0.083401],[0.022817,0.106280,0.994074]]
2025-10-25T03:55:31.574Z,1761364531.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818599
2025-10-25T03:55:31.598Z,1761364531.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:31.605Z,1761364531.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 383.661285 m,
      bearing: 331.658375 deg,
      approach rate: -0.543101 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.659779 deg,
      new cmd heading: 331.658375 deg.

2025-10-25T03:55:31.606Z,1761364531.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788531 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:31.826Z,1761364531.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070570
2025-10-25T03:55:31.950Z,1761364531.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883573,0.463298,-0.068218],[-0.467776,0.880028,-0.082073],[0.022009,0.104428,0.994289]]
2025-10-25T03:55:31.977Z,1761364531.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:31.979Z,1761364531.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:31.984Z,1761364531.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 383.446899 m,
      bearing: 331.656736 deg,
      approach rate: -0.562427 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.658386 deg,
      new cmd heading: 331.656736 deg.

2025-10-25T03:55:31.985Z,1761364531.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788502 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:32.078Z,1761364532.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323101
2025-10-25T03:55:32.330Z,1761364532.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574544
2025-10-25T03:55:32.362Z,1761364532.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883163,0.464338,-0.066437],[-0.468595,0.879734,-0.080544],[0.021047,0.102266,0.994534]]
2025-10-25T03:55:32.422Z,1761364532.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:32.425Z,1761364532.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 383.193695 m,
      bearing: 331.656521 deg,
      approach rate: -0.571389 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.656747 deg,
      new cmd heading: 331.656521 deg.

2025-10-25T03:55:32.426Z,1761364532.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788498 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:32.582Z,1761364532.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826535
2025-10-25T03:55:32.757Z,1761364532.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882611,0.465518,-0.065500],[-0.469670,0.879180,-0.080328],[0.020192,0.101662,0.994614]]
2025-10-25T03:55:32.776Z,1761364532.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:32.779Z,1761364532.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 382.990387 m,
      bearing: 331.656385 deg,
      approach rate: -0.575144 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.656528 deg,
      new cmd heading: 331.656385 deg.

2025-10-25T03:55:32.779Z,1761364532.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788496 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:32.836Z,1761364532.836 [DAT](INFO): Reached modem response timeout
2025-10-25T03:55:32.836Z,1761364532.836 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:32.836Z,1761364532.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:33.085Z,1761364533.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:33.202Z,1761364533.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881956,0.466914,-0.064374],[-0.470935,0.878556,-0.079744],[0.019322,0.100647,0.994735]]
2025-10-25T03:55:33.261Z,1761364533.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:33.264Z,1761364533.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 382.697083 m,
      bearing: 331.657539 deg,
      approach rate: -0.604127 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.656392 deg,
      new cmd heading: 331.657539 deg.

2025-10-25T03:55:33.265Z,1761364533.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788516 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:33.338Z,1761364533.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:55:33.563Z,1761364533.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881639,0.467641,-0.063440],[-0.471565,0.878217,-0.079753],[0.018419,0.100229,0.994794]]
2025-10-25T03:55:33.632Z,1761364533.632 [DAT](INFO): DAT read: Response Not Received

2025-10-25T03:55:33.632Z,1761364533.632 [DAT](INFO): response not received
2025-10-25T03:55:33.637Z,1761364533.637 [DAT](INFO): DAT read: user:187>

2025-10-25T03:55:33.637Z,1761364533.637 [DAT](INFO): DAT read: Tx time:03:55:33.1695

2025-10-25T03:55:33.638Z,1761364533.638 [DAT](INFO): Ping request sent.
2025-10-25T03:55:33.638Z,1761364533.638 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:33.638Z,1761364533.638 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:33.639Z,1761364533.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-10-25T03:55:33.709Z,1761364533.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:33.711Z,1761364533.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 382.458893 m,
      bearing: 331.658503 deg,
      approach rate: -0.537401 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.657539 deg,
      new cmd heading: 331.658503 deg.

2025-10-25T03:55:33.712Z,1761364533.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788533 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:33.842Z,1761364533.842 [DAT](INFO): DAT read: TxSync time:03:55:33.1687

2025-10-25T03:55:33.842Z,1761364533.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.204594
2025-10-25T03:55:33.992Z,1761364533.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881003,0.468960,-0.062526],[-0.472783,0.877583,-0.079521],[0.017580,0.099619,0.994870]]
2025-10-25T03:55:34.010Z,1761364534.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:34.012Z,1761364534.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:34.014Z,1761364534.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 382.243378 m,
      bearing: 331.659423 deg,
      approach rate: -0.701681 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.658495 deg,
      new cmd heading: 331.659423 deg.

2025-10-25T03:55:34.015Z,1761364534.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788549 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:34.094Z,1761364534.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.456387
2025-10-25T03:55:34.345Z,1761364534.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.707565
2025-10-25T03:55:34.389Z,1761364534.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880648,0.469620,-0.062582],[-0.473460,0.877143,-0.080349],[0.017160,0.100390,0.994800]]
2025-10-25T03:55:34.438Z,1761364534.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:34.440Z,1761364534.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 381.978790 m,
      bearing: 331.661125 deg,
      approach rate: -0.621221 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.659424 deg,
      new cmd heading: 331.661125 deg.

2025-10-25T03:55:34.442Z,1761364534.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788579 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:34.530Z,1761364534.530 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:55:34.598Z,1761364534.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960365
2025-10-25T03:55:34.792Z,1761364534.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879697,0.471528,-0.061601],[-0.475236,0.876328,-0.078735],[0.016857,0.098538,0.994990]]
2025-10-25T03:55:34.826Z,1761364534.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:34.829Z,1761364534.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 381.736206 m,
      bearing: 331.662764 deg,
      approach rate: -0.624761 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.661118 deg,
      new cmd heading: 331.662764 deg.

2025-10-25T03:55:34.829Z,1761364534.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788607 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:34.850Z,1761364534.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212297
2025-10-25T03:55:35.102Z,1761364535.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463912
2025-10-25T03:55:35.250Z,1761364535.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878633,0.473402,-0.062413],[-0.477196,0.875194,-0.079492],[0.016992,0.099628,0.994880]]
2025-10-25T03:55:35.313Z,1761364535.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:35.318Z,1761364535.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 381.432404 m,
      bearing: 331.665458 deg,
      approach rate: -0.624929 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.662757 deg,
      new cmd heading: 331.665458 deg.

2025-10-25T03:55:35.319Z,1761364535.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788654 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:35.354Z,1761364535.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715836
2025-10-25T03:55:35.606Z,1761364535.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968415
2025-10-25T03:55:35.622Z,1761364535.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878667,0.473385,-0.062060],[-0.477168,0.875072,-0.080985],[0.015969,0.100772,0.994781]]
2025-10-25T03:55:35.659Z,1761364535.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:35.668Z,1761364535.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 381.214752 m,
      bearing: 331.667389 deg,
      approach rate: -0.627635 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.665462 deg,
      new cmd heading: 331.667389 deg.

2025-10-25T03:55:35.673Z,1761364535.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788688 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:35.858Z,1761364535.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219609
2025-10-25T03:55:36.010Z,1761364536.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878663,0.473539,-0.060924],[-0.477207,0.875055,-0.080952],[0.014978,0.100203,0.994854]]
2025-10-25T03:55:36.041Z,1761364536.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:36.043Z,1761364536.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:36.051Z,1761364536.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 380.971832 m,
      bearing: 331.669548 deg,
      approach rate: -0.632917 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.667402 deg,
      new cmd heading: 331.669548 deg.

2025-10-25T03:55:36.051Z,1761364536.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788726 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:36.110Z,1761364536.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471623
2025-10-25T03:55:36.362Z,1761364536.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723646
2025-10-25T03:55:36.409Z,1761364536.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878756,0.473425,-0.060473],[-0.477062,0.875044,-0.081913],[0.014137,0.100831,0.994803]]
2025-10-25T03:55:36.463Z,1761364536.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:36.485Z,1761364536.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 380.706299 m,
      bearing: 331.671730 deg,
      approach rate: -0.632323 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.669560 deg,
      new cmd heading: 331.671730 deg.

2025-10-25T03:55:36.486Z,1761364536.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788764 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:36.614Z,1761364536.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975661
2025-10-25T03:55:36.821Z,1761364536.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878859,0.473300,-0.059952],[-0.476892,0.875094,-0.082368],[0.013479,0.100980,0.994797]]
2025-10-25T03:55:36.867Z,1761364536.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229293
2025-10-25T03:55:36.906Z,1761364536.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:36.913Z,1761364536.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 380.440125 m,
      bearing: 331.673913 deg,
      approach rate: -0.600480 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.671718 deg,
      new cmd heading: 331.673913 deg.

2025-10-25T03:55:36.913Z,1761364536.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788802 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:37.118Z,1761364537.118 [DAT](INFO): DAT read: Rx Time:03:55:36.0777

2025-10-25T03:55:37.119Z,1761364537.119 [DAT](INFO): Rx dataTimestamp_ set to:1761364537.118145
2025-10-25T03:55:37.119Z,1761364537.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481440
2025-10-25T03:55:37.247Z,1761364537.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879155,0.472780,-0.059709],[-0.476360,0.875313,-0.083121],[0.012966,0.101520,0.994749]]
2025-10-25T03:55:37.331Z,1761364537.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:37.335Z,1761364537.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 380.158936 m,
      bearing: 331.675864 deg,
      approach rate: -0.662263 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.673904 deg,
      new cmd heading: 331.675864 deg.

2025-10-25T03:55:37.335Z,1761364537.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788836 target range: 387.175598 and range: 385.80 m.
2025-10-25T03:55:37.370Z,1761364537.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731964
2025-10-25T03:55:37.627Z,1761364537.627 [DAT](INFO): DAT read: 03:55:36.0777 LVL= 28320, 30161, 24050, 32755, AGC= 58, IDX= 424, 0.01,-0.814,-2.079,-0.731,-1.320, PHS= 0.594,-0.712, 0.586, RAW= 149.7,  -7.2, CAL= 155.2, -15.5, ROT= 354.8,  15.5

2025-10-25T03:55:37.628Z,1761364537.628 [DAT](INFO): got valid direction response:
 03:55:36.0777 LVL= 28320, 30161, 24050, 32755, AGC= 58, IDX= 424, 0.01,-0.814,-2.079,-0.731,-1.320, PHS= 0.594,-0.712, 0.586, RAW= 149.7,  -7.2, CAL= 155.2, -15.5, ROT= 354.8,  15.5

2025-10-25T03:55:37.629Z,1761364537.629 [DAT](INFO): DAT read: Bearing 354.8,  15.5 (Local)

2025-10-25T03:55:37.629Z,1761364537.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  15.5 (Local)

2025-10-25T03:55:37.631Z,1761364537.631 [DAT](INFO): DAT read: Range 10 to 50 : 378.0 m  (Round-trip  504.0 ms) speed  0.7 m/s

2025-10-25T03:55:37.631Z,1761364537.631 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:37.633Z,1761364537.633 [DAT](INFO): direction in FSK: [0.959665,-0.087336,-0.267238]
2025-10-25T03:55:37.633Z,1761364537.633 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:37.653Z,1761364537.653 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:37.653Z,1761364537.653 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:37.654Z,1761364537.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:37.669Z,1761364537.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879479,0.472190,-0.059611],[-0.475793,0.875379,-0.085630],[0.011748,0.103672,0.994542]]
2025-10-25T03:55:37.729Z,1761364537.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 378.000000 m,
      deltaT: 15.118493 s,
      deltaX: -7.799988 m,
      approachRate: -0.515924 m/s,
      rangeRepo size: 3

2025-10-25T03:55:37.730Z,1761364537.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:37.732Z,1761364537.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 379.923279 m,
      bearing: 331.677477 deg,
      approach rate: -0.592999 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.675871 deg,
      new cmd heading: 331.677477 deg.

2025-10-25T03:55:37.739Z,1761364537.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788864 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:37.873Z,1761364537.874 [DAT](INFO): DAT read: user:188>

2025-10-25T03:55:37.874Z,1761364537.874 [DAT](INFO): DAT read: Tx time:03:55:37.3696

2025-10-25T03:55:37.875Z,1761364537.875 [DAT](INFO): Ping request sent.
2025-10-25T03:55:37.875Z,1761364537.875 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:37.875Z,1761364537.875 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:37.875Z,1761364537.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-25T03:55:38.047Z,1761364538.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879592,0.472020,-0.059290],[-0.475595,0.875453,-0.085981],[0.011321,0.103826,0.994531]]
2025-10-25T03:55:38.095Z,1761364538.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:38.113Z,1761364538.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:38.121Z,1761364538.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 379.692871 m,
      bearing: 331.679049 deg,
      approach rate: -0.624867 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.677483 deg,
      new cmd heading: 331.679049 deg.

2025-10-25T03:55:38.121Z,1761364538.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788891 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:38.126Z,1761364538.126 [DAT](INFO): DAT read: TxSync time:03:55:37.3688

2025-10-25T03:55:38.126Z,1761364538.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251716
2025-10-25T03:55:38.378Z,1761364538.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934
2025-10-25T03:55:38.443Z,1761364538.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880460,0.470761,-0.056335],[-0.473980,0.876854,-0.080438],[0.011531,0.097524,0.995166]]
2025-10-25T03:55:38.492Z,1761364538.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:38.495Z,1761364538.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 379.439514 m,
      bearing: 331.679719 deg,
      approach rate: -0.640802 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.679040 deg,
      new cmd heading: 331.679719 deg.

2025-10-25T03:55:38.495Z,1761364538.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788903 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:38.629Z,1761364538.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755
2025-10-25T03:55:38.838Z,1761364538.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881211,0.469208,-0.057544],[-0.472576,0.877421,-0.082485],[0.011787,0.099881,0.994930]]
2025-10-25T03:55:38.873Z,1761364538.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:38.875Z,1761364538.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 379.214966 m,
      bearing: 331.680258 deg,
      approach rate: -0.590415 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.679723 deg,
      new cmd heading: 331.680258 deg.

2025-10-25T03:55:38.876Z,1761364538.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788913 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:38.882Z,1761364538.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035
2025-10-25T03:55:39.135Z,1761364539.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260204
2025-10-25T03:55:39.262Z,1761364539.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882411,0.466847,-0.058357],[-0.470320,0.878532,-0.083555],[0.012261,0.101176,0.994793]]
2025-10-25T03:55:39.338Z,1761364539.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:39.349Z,1761364539.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 378.926086 m,
      bearing: 331.680840 deg,
      approach rate: -0.620397 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.680270 deg,
      new cmd heading: 331.680840 deg.

2025-10-25T03:55:39.351Z,1761364539.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788923 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:39.386Z,1761364539.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511679
2025-10-25T03:55:39.637Z,1761364539.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762659
2025-10-25T03:55:39.651Z,1761364539.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883359,0.465234,-0.056875],[-0.468562,0.879495,-0.083296],[0.011269,0.100229,0.994901]]
2025-10-25T03:55:39.739Z,1761364539.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:39.743Z,1761364539.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 378.672791 m,
      bearing: 331.681535 deg,
      approach rate: -0.631050 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.680844 deg,
      new cmd heading: 331.681535 deg.

2025-10-25T03:55:39.746Z,1761364539.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788935 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:39.890Z,1761364539.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014823
2025-10-25T03:55:40.051Z,1761364540.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883763,0.464574,-0.055971],[-0.467807,0.879963,-0.082592],[0.010883,0.099175,0.995010]]
2025-10-25T03:55:40.077Z,1761364540.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:40.080Z,1761364540.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 378.466492 m,
      bearing: 331.682076 deg,
      approach rate: -0.610715 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.681527 deg,
      new cmd heading: 331.682076 deg.

2025-10-25T03:55:40.081Z,1761364540.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788944 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:40.142Z,1761364540.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267031
2025-10-25T03:55:40.394Z,1761364540.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518913
2025-10-25T03:55:40.451Z,1761364540.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884367,0.463401,-0.056168],[-0.466661,0.880547,-0.082854],[0.011064,0.099485,0.994978]]
2025-10-25T03:55:40.501Z,1761364540.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:40.503Z,1761364540.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:40.506Z,1761364540.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 378.211609 m,
      bearing: 331.683088 deg,
      approach rate: -0.598859 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.682073 deg,
      new cmd heading: 331.683088 deg.

2025-10-25T03:55:40.507Z,1761364540.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788962 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:40.646Z,1761364540.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770834
2025-10-25T03:55:40.853Z,1761364540.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884933,0.462340,-0.056000],[-0.465591,0.881090,-0.083100],[0.010920,0.099611,0.994967]]
2025-10-25T03:55:40.891Z,1761364540.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:40.893Z,1761364540.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 377.978119 m,
      bearing: 331.683972 deg,
      approach rate: -0.602196 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.683084 deg,
      new cmd heading: 331.683972 deg.

2025-10-25T03:55:40.894Z,1761364540.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788978 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:40.898Z,1761364540.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022877
2025-10-25T03:55:41.150Z,1761364541.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275410
2025-10-25T03:55:41.267Z,1761364541.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885365,0.461636,-0.054974],[-0.464779,0.881602,-0.082211],[0.010514,0.098338,0.995098]]
2025-10-25T03:55:41.389Z,1761364541.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:41.403Z,1761364541.403 [DAT](INFO): DAT read: Rx Time:03:55:40.2740

2025-10-25T03:55:41.404Z,1761364541.404 [DAT](INFO): Rx dataTimestamp_ set to:1761364541.403276
2025-10-25T03:55:41.404Z,1761364541.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529366
2025-10-25T03:55:41.406Z,1761364541.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 377.699615 m,
      bearing: 331.684992 deg,
      approach rate: -0.568998 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.683985 deg,
      new cmd heading: 331.684992 deg.

2025-10-25T03:55:41.406Z,1761364541.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788995 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:41.654Z,1761364541.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779447
2025-10-25T03:55:41.724Z,1761364541.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885626,0.461183,-0.054563],[-0.464284,0.881888,-0.081934],[0.010332,0.097896,0.995143]]
2025-10-25T03:55:41.796Z,1761364541.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:41.798Z,1761364541.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 377.432831 m,
      bearing: 331.686270 deg,
      approach rate: -0.641905 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.684996 deg,
      new cmd heading: 331.686270 deg.

2025-10-25T03:55:41.799Z,1761364541.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789018 target range: 387.175598 and range: 378.00 m.
2025-10-25T03:55:41.913Z,1761364541.913 [DAT](INFO): DAT read: 03:55:40.2740 LVL= 24368, 31521, 19618, 32755, AGC= 62, IDX= 398, 0.47, 2.628, 1.114, 2.656, 1.951, PHS= 0.765,-0.789, 0.703, RAW= 148.0,  -9.0, CAL= 154.2, -17.3, ROT= 355.8,  17.3

2025-10-25T03:55:41.914Z,1761364541.914 [DAT](INFO): got valid direction response:
 03:55:40.2740 LVL= 24368, 31521, 19618, 32755, AGC= 62, IDX= 398, 0.47, 2.628, 1.114, 2.656, 1.951, PHS= 0.765,-0.789, 0.703, RAW= 148.0,  -9.0, CAL= 154.2, -17.3, ROT= 355.8,  17.3

2025-10-25T03:55:41.915Z,1761364541.915 [DAT](INFO): DAT read: Bearing 355.8,  17.3 (Local)

2025-10-25T03:55:41.915Z,1761364541.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  17.3 (Local)

2025-10-25T03:55:41.918Z,1761364541.918 [DAT](INFO): DAT read: Range 10 to 50 : 375.1 m  (Round-trip  500.2 ms) speed  0.5 m/s

2025-10-25T03:55:41.919Z,1761364541.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:41.920Z,1761364541.920 [DAT](INFO): direction in FSK: [0.952197,-0.069925,-0.297375]
2025-10-25T03:55:41.920Z,1761364541.920 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:41.923Z,1761364541.923 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:41.923Z,1761364541.923 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:41.924Z,1761364541.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:42.119Z,1761364542.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885803,0.460904,-0.054030],[-0.463952,0.882087,-0.081672],[0.010017,0.097413,0.995194]]
2025-10-25T03:55:42.143Z,1761364542.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.100006 m,
      deltaT: 4.285236 s,
      deltaX: -2.899994 m,
      approachRate: -0.676741 m/s,
      rangeRepo size: 4

2025-10-25T03:55:42.144Z,1761364542.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:42.146Z,1761364542.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 377.227051 m,
      bearing: 331.687246 deg,
      approach rate: -0.593573 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.686280 deg,
      new cmd heading: 331.687246 deg.

2025-10-25T03:55:42.147Z,1761364542.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789034 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:42.166Z,1761364542.166 [DAT](INFO): DAT read: user:189>

2025-10-25T03:55:42.168Z,1761364542.168 [DAT](INFO): DAT read: Tx time:03:55:41.6196

2025-10-25T03:55:42.168Z,1761364542.168 [DAT](INFO): Ping request sent.
2025-10-25T03:55:42.168Z,1761364542.168 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:42.168Z,1761364542.168 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:42.169Z,1761364542.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000860
2025-10-25T03:55:42.418Z,1761364542.418 [DAT](INFO): DAT read: TxSync time:03:55:41.6188

2025-10-25T03:55:42.419Z,1761364542.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823
2025-10-25T03:55:42.520Z,1761364542.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885807,0.460902,-0.053991],[-0.463943,0.882125,-0.081312],[0.010150,0.097076,0.995225]]
2025-10-25T03:55:42.571Z,1761364542.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:42.574Z,1761364542.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:42.577Z,1761364542.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 376.964752 m,
      bearing: 331.689230 deg,
      approach rate: -0.607606 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.687237 deg,
      new cmd heading: 331.689230 deg.

2025-10-25T03:55:42.577Z,1761364542.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789069 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:42.670Z,1761364542.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501861
2025-10-25T03:55:42.913Z,1761364542.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885425,0.461841,-0.052195],[-0.464654,0.882215,-0.076118],[0.010893,0.091649,0.995732]]
2025-10-25T03:55:42.922Z,1761364542.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753657
2025-10-25T03:55:42.938Z,1761364542.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:42.957Z,1761364542.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 376.744019 m,
      bearing: 331.690935 deg,
      approach rate: -0.605804 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.689231 deg,
      new cmd heading: 331.690935 deg.

2025-10-25T03:55:42.958Z,1761364542.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789099 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:43.174Z,1761364543.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005934
2025-10-25T03:55:43.370Z,1761364543.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886630,0.459405,-0.053236],[-0.462354,0.883175,-0.078935],[0.010754,0.094600,0.995457]]
2025-10-25T03:55:43.409Z,1761364543.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:43.412Z,1761364543.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 376.458893 m,
      bearing: 331.693978 deg,
      approach rate: -0.605347 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.690925 deg,
      new cmd heading: 331.693978 deg.

2025-10-25T03:55:43.425Z,1761364543.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257385
2025-10-25T03:55:43.434Z,1761364543.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789152 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:43.677Z,1761364543.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509401
2025-10-25T03:55:43.761Z,1761364543.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:43.764Z,1761364543.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 376.248108 m,
      bearing: 331.696231 deg,
      approach rate: -0.598794 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.693985 deg,
      new cmd heading: 331.696231 deg.

2025-10-25T03:55:43.765Z,1761364543.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789191 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:43.929Z,1761364543.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761372
2025-10-25T03:55:44.126Z,1761364544.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888082,0.456754,-0.051830],[-0.459605,0.884377,-0.081489],[0.008617,0.096190,0.995326]]
2025-10-25T03:55:44.155Z,1761364544.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:44.158Z,1761364544.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 376.009430 m,
      bearing: 331.698669 deg,
      approach rate: -0.606350 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.696225 deg,
      new cmd heading: 331.698669 deg.

2025-10-25T03:55:44.158Z,1761364544.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789234 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:44.182Z,1761364544.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013455
2025-10-25T03:55:44.435Z,1761364544.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266681
2025-10-25T03:55:44.586Z,1761364544.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:44.588Z,1761364544.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:44.590Z,1761364544.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 375.745392 m,
      bearing: 331.700945 deg,
      approach rate: -0.610361 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.698657 deg,
      new cmd heading: 331.700945 deg.

2025-10-25T03:55:44.591Z,1761364544.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789274 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:44.686Z,1761364544.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517774
2025-10-25T03:55:44.938Z,1761364544.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769533
2025-10-25T03:55:44.936Z,1761364544.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888426,0.456299,-0.049897],[-0.458968,0.884689,-0.081691],[0.006867,0.095478,0.995408]]
2025-10-25T03:55:44.962Z,1761364544.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:44.964Z,1761364544.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 375.515717 m,
      bearing: 331.702902 deg,
      approach rate: -0.614097 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.700952 deg,
      new cmd heading: 331.702902 deg.

2025-10-25T03:55:44.965Z,1761364544.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789308 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:45.190Z,1761364545.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021476
2025-10-25T03:55:45.370Z,1761364545.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888283,0.456668,-0.049061],[-0.459254,0.884569,-0.081385],[0.006232,0.094825,0.995474]]
2025-10-25T03:55:45.442Z,1761364545.442 [DAT](INFO): DAT read: Rx Time:03:55:44.5199

2025-10-25T03:55:45.442Z,1761364545.442 [DAT](INFO): Rx dataTimestamp_ set to:1761364545.441720
2025-10-25T03:55:45.443Z,1761364545.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274442
2025-10-25T03:55:45.467Z,1761364545.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:45.473Z,1761364545.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 375.223877 m,
      bearing: 331.705737 deg,
      approach rate: -0.585107 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.702891 deg,
      new cmd heading: 331.705737 deg.

2025-10-25T03:55:45.474Z,1761364545.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789357 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:45.693Z,1761364545.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525354
2025-10-25T03:55:45.742Z,1761364545.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888161,0.457019,-0.047990],[-0.459498,0.884510,-0.080642],[0.005593,0.093675,0.995587]]
2025-10-25T03:55:45.761Z,1761364545.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:45.763Z,1761364545.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 375.024780 m,
      bearing: 331.707683 deg,
      approach rate: -0.663459 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.705733 deg,
      new cmd heading: 331.707683 deg.

2025-10-25T03:55:45.764Z,1761364545.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789391 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:45.948Z,1761364545.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779343
2025-10-25T03:55:46.148Z,1761364546.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887565,0.458284,-0.046952],[-0.460655,0.884023,-0.079374],[0.005131,0.092078,0.995739]]
2025-10-25T03:55:46.169Z,1761364546.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:46.172Z,1761364546.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 374.774841 m,
      bearing: 331.710179 deg,
      approach rate: -0.612644 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.707673 deg,
      new cmd heading: 331.710179 deg.

2025-10-25T03:55:46.172Z,1761364546.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789435 target range: 387.175598 and range: 375.10 m.
2025-10-25T03:55:46.204Z,1761364546.204 [DAT](INFO): DAT read: 03:55:44.5199 LVL= 18352, 24305, 17138, 30035, AGC= 68, IDX= 405, 0.18,-2.340, 2.548,-2.312,-2.714, PHS= 0.462,-0.974, 0.399, RAW= 147.8,   1.6, CAL= 150.8,  -7.2, ROT= 359.2,   7.2

2025-10-25T03:55:46.205Z,1761364546.205 [DAT](INFO): got valid direction response:
 03:55:44.5199 LVL= 18352, 24305, 17138, 30035, AGC= 68, IDX= 405, 0.18,-2.340, 2.548,-2.312,-2.714, PHS= 0.462,-0.974, 0.399, RAW= 147.8,   1.6, CAL= 150.8,  -7.2, ROT= 359.2,   7.2

2025-10-25T03:55:46.206Z,1761364546.206 [DAT](INFO): DAT read: Bearing 359.2,   7.2 (Local)

2025-10-25T03:55:46.207Z,1761364546.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,   7.2 (Local)

2025-10-25T03:55:46.208Z,1761364546.208 [DAT](INFO): DAT read: Range 10 to 50 : 372.0 m  (Round-trip  496.1 ms) speed  0.4 m/s

2025-10-25T03:55:46.209Z,1761364546.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:46.210Z,1761364546.210 [DAT](INFO): direction in FSK: [0.992018,-0.013852,-0.125333]
2025-10-25T03:55:46.210Z,1761364546.210 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:46.214Z,1761364546.214 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:46.214Z,1761364546.214 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:46.214Z,1761364546.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:46.461Z,1761364546.461 [DAT](INFO): DAT read: user:190>

2025-10-25T03:55:46.462Z,1761364546.462 [DAT](INFO): DAT read: Tx time:03:55:45.9196

2025-10-25T03:55:46.462Z,1761364546.462 [DAT](INFO): Ping request sent.
2025-10-25T03:55:46.462Z,1761364546.462 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:46.462Z,1761364546.462 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:46.463Z,1761364546.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-10-25T03:55:46.550Z,1761364546.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887550,0.458378,-0.046309],[-0.460688,0.884020,-0.079219],[0.004626,0.091645,0.995781]]
2025-10-25T03:55:46.630Z,1761364546.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.000000 m,
      deltaT: 4.291008 s,
      deltaX: -3.100006 m,
      approachRate: -0.722442 m/s,
      rangeRepo size: 4

2025-10-25T03:55:46.631Z,1761364546.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:46.635Z,1761364546.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 374.488617 m,
      bearing: 331.712407 deg,
      approach rate: -0.620437 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.710186 deg,
      new cmd heading: 331.712407 deg.

2025-10-25T03:55:46.636Z,1761364546.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789474 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:46.711Z,1761364546.711 [DAT](INFO): DAT read: TxSync time:03:55:45.9188

2025-10-25T03:55:46.712Z,1761364546.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249615
2025-10-25T03:55:46.954Z,1761364546.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887048,0.459363,-0.046166],[-0.461653,0.883566,-0.078665],[0.004655,0.091092,0.995832]]
2025-10-25T03:55:46.962Z,1761364546.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499482
2025-10-25T03:55:46.974Z,1761364546.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:46.976Z,1761364546.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:46.978Z,1761364546.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 374.272430 m,
      bearing: 331.714129 deg,
      approach rate: -0.625006 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.712399 deg,
      new cmd heading: 331.714129 deg.

2025-10-25T03:55:46.979Z,1761364546.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789504 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:47.214Z,1761364547.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752112
2025-10-25T03:55:47.376Z,1761364547.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886611,0.460225,-0.045971],[-0.462483,0.883331,-0.076389],[0.005451,0.088988,0.996018]]
2025-10-25T03:55:47.447Z,1761364547.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:47.454Z,1761364547.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 373.982574 m,
      bearing: 331.716482 deg,
      approach rate: -0.615085 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.714120 deg,
      new cmd heading: 331.716482 deg.

2025-10-25T03:55:47.454Z,1761364547.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789545 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:47.467Z,1761364547.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004841
2025-10-25T03:55:47.718Z,1761364547.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255660
2025-10-25T03:55:47.762Z,1761364547.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886487,0.460453,-0.046085],[-0.462724,0.883150,-0.077024],[0.005233,0.089605,0.995964]]
2025-10-25T03:55:47.831Z,1761364547.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:47.838Z,1761364547.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 373.745361 m,
      bearing: 331.717462 deg,
      approach rate: -0.617508 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.716470 deg,
      new cmd heading: 331.717462 deg.

2025-10-25T03:55:47.839Z,1761364547.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789562 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:47.970Z,1761364547.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508150
2025-10-25T03:55:48.178Z,1761364548.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886491,0.460522,-0.045305],[-0.462723,0.883144,-0.077101],[0.004504,0.089314,0.995993]]
2025-10-25T03:55:48.197Z,1761364548.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:48.201Z,1761364548.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 373.512970 m,
      bearing: 331.718424 deg,
      approach rate: -0.635811 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.717453 deg,
      new cmd heading: 331.718424 deg.

2025-10-25T03:55:48.202Z,1761364548.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789579 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:48.222Z,1761364548.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759625
2025-10-25T03:55:48.474Z,1761364548.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011466
2025-10-25T03:55:48.569Z,1761364548.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886450,0.460726,-0.044024],[-0.462812,0.883101,-0.077050],[0.003379,0.088676,0.996055]]
2025-10-25T03:55:48.647Z,1761364548.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:48.670Z,1761364548.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 373.233154 m,
      bearing: 331.717944 deg,
      approach rate: -0.620814 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.718437 deg,
      new cmd heading: 331.717944 deg.

2025-10-25T03:55:48.671Z,1761364548.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789570 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:48.726Z,1761364548.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263591
2025-10-25T03:55:48.976Z,1761364548.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886246,0.461214,-0.043008],[-0.463208,0.882888,-0.077116],[0.002404,0.088265,0.996094]]
2025-10-25T03:55:48.978Z,1761364548.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515585
2025-10-25T03:55:49.001Z,1761364549.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:49.003Z,1761364549.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:49.006Z,1761364549.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 373.013702 m,
      bearing: 331.717582 deg,
      approach rate: -0.616145 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.717945 deg,
      new cmd heading: 331.717582 deg.

2025-10-25T03:55:49.007Z,1761364549.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789564 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:49.230Z,1761364549.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768234
2025-10-25T03:55:49.383Z,1761364549.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886364,0.461032,-0.042519],[-0.462985,0.882957,-0.077666],[0.001736,0.088526,0.996072]]
2025-10-25T03:55:49.467Z,1761364549.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:49.474Z,1761364549.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 372.755615 m,
      bearing: 331.717146 deg,
      approach rate: -0.556475 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.717590 deg,
      new cmd heading: 331.717146 deg.

2025-10-25T03:55:49.475Z,1761364549.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789557 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:49.484Z,1761364549.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021726
2025-10-25T03:55:49.725Z,1761364549.725 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:55:49.734Z,1761364549.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271856
2025-10-25T03:55:49.783Z,1761364549.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886003,0.461760,-0.042143],[-0.463677,0.882600,-0.077598],[0.001364,0.088293,0.996094]]
2025-10-25T03:55:49.830Z,1761364549.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:49.835Z,1761364549.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 372.506348 m,
      bearing: 331.715989 deg,
      approach rate: -0.687396 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.717153 deg,
      new cmd heading: 331.715989 deg.

2025-10-25T03:55:49.839Z,1761364549.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789536 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:49.986Z,1761364549.986 [DAT](INFO): DAT read: Rx Time:03:55:48.8170

2025-10-25T03:55:49.986Z,1761364549.986 [DAT](INFO): Rx dataTimestamp_ set to:1761364549.985824
2025-10-25T03:55:49.987Z,1761364549.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524576
2025-10-25T03:55:50.188Z,1761364550.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885875,0.461979,-0.042432],[-0.463922,0.882386,-0.078558],[0.001149,0.089277,0.996006]]
2025-10-25T03:55:50.225Z,1761364550.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:50.227Z,1761364550.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 372.279510 m,
      bearing: 331.714945 deg,
      approach rate: -0.575024 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.715978 deg,
      new cmd heading: 331.714945 deg.

2025-10-25T03:55:50.228Z,1761364550.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789518 target range: 387.175598 and range: 372.00 m.
2025-10-25T03:55:50.241Z,1761364550.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778098
2025-10-25T03:55:50.496Z,1761364550.496 [DAT](INFO): DAT read: 03:55:48.8171 LVL= 20768, 23889, 19298, 29427, AGC= 70, IDX= 408,-0.34, 1.828, 0.192, 1.878, 1.167, PHS= 0.748,-0.928, 0.707, RAW= 148.8,  -6.4, CAL= 154.1, -14.9, ROT= 355.9,  14.9

2025-10-25T03:55:50.499Z,1761364550.499 [DAT](INFO): got valid direction response:
 03:55:48.8171 LVL= 20768, 23889, 19298, 29427, AGC= 70, IDX= 408,-0.34, 1.828, 0.192, 1.878, 1.167, PHS= 0.748,-0.928, 0.707, RAW= 148.8,  -6.4, CAL= 154.1, -14.9, ROT= 355.9,  14.9

2025-10-25T03:55:50.501Z,1761364550.501 [DAT](INFO): DAT read: Bearing 355.9,  14.9 (Local)

2025-10-25T03:55:50.501Z,1761364550.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  14.9 (Local)

2025-10-25T03:55:50.503Z,1761364550.503 [DAT](INFO): DAT read: Range 10 to 50 : 369.9 m  (Round-trip  493.3 ms) speed  0.4 m/s

2025-10-25T03:55:50.503Z,1761364550.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:50.504Z,1761364550.504 [DAT](INFO): direction in FSK: [0.963903,-0.069094,-0.257133]
2025-10-25T03:55:50.505Z,1761364550.505 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:50.509Z,1761364550.509 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:50.509Z,1761364550.509 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:50.509Z,1761364550.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:50.719Z,1761364550.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.899994 m,
      deltaT: 4.292218 s,
      deltaX: -2.100006 m,
      approachRate: -0.489259 m/s,
      rangeRepo size: 4

2025-10-25T03:55:50.720Z,1761364550.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:50.723Z,1761364550.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 371.985443 m,
      bearing: 331.713624 deg,
      approach rate: -0.595258 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.714940 deg,
      new cmd heading: 331.713624 deg.

2025-10-25T03:55:50.724Z,1761364550.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789495 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:50.729Z,1761364550.729 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:55:50.742Z,1761364550.742 [DAT](INFO): DAT read: user:191>

2025-10-25T03:55:50.742Z,1761364550.742 [DAT](INFO): DAT read: Tx time:03:55:50.2197

2025-10-25T03:55:50.743Z,1761364550.743 [DAT](INFO): Ping request sent.
2025-10-25T03:55:50.743Z,1761364550.743 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:50.743Z,1761364550.743 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:50.744Z,1761364550.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-10-25T03:55:50.994Z,1761364550.994 [DAT](INFO): DAT read: TxSync time:03:55:50.2189

2025-10-25T03:55:50.994Z,1761364550.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251573
2025-10-25T03:55:51.047Z,1761364551.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885464,0.462835,-0.041693],[-0.464709,0.881934,-0.078979],[0.000216,0.089308,0.996004]]
2025-10-25T03:55:51.087Z,1761364551.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:51.093Z,1761364551.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:51.095Z,1761364551.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 371.767303 m,
      bearing: 331.712672 deg,
      approach rate: -0.589153 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.713629 deg,
      new cmd heading: 331.712672 deg.

2025-10-25T03:55:51.096Z,1761364551.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789478 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:51.246Z,1761364551.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502671
2025-10-25T03:55:51.498Z,1761364551.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754694
2025-10-25T03:55:51.580Z,1761364551.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:51.587Z,1761364551.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 371.473755 m,
      bearing: 331.710628 deg,
      approach rate: -0.597176 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.712672 deg,
      new cmd heading: 331.710628 deg.

2025-10-25T03:55:51.588Z,1761364551.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789443 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:51.751Z,1761364551.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008206
2025-10-25T03:55:51.893Z,1761364551.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883217,0.466781,-0.045195],[-0.468963,0.879292,-0.083182],[0.000912,0.094662,0.995509]]
2025-10-25T03:55:51.927Z,1761364551.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:51.934Z,1761364551.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 371.274658 m,
      bearing: 331.709388 deg,
      approach rate: -0.573979 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.710623 deg,
      new cmd heading: 331.709388 deg.

2025-10-25T03:55:51.935Z,1761364551.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789421 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:52.004Z,1761364552.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260605
2025-10-25T03:55:52.254Z,1761364552.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749
2025-10-25T03:55:52.282Z,1761364552.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882892,0.467543,-0.043651],[-0.469576,0.879055,-0.082224],[-0.000071,0.093092,0.995658]]
2025-10-25T03:55:52.327Z,1761364552.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:52.330Z,1761364552.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 371.030579 m,
      bearing: 331.707891 deg,
      approach rate: -0.609950 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.709394 deg,
      new cmd heading: 331.707891 deg.

2025-10-25T03:55:52.331Z,1761364552.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789395 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:52.506Z,1761364552.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762685
2025-10-25T03:55:52.695Z,1761364552.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883070,0.467382,-0.041737],[-0.469238,0.879241,-0.082167],[-0.001706,0.092144,0.995744]]
2025-10-25T03:55:52.758Z,1761364552.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014652
2025-10-25T03:55:52.785Z,1761364552.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:52.787Z,1761364552.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 370.766724 m,
      bearing: 331.706294 deg,
      approach rate: -0.576843 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.707891 deg,
      new cmd heading: 331.706294 deg.

2025-10-25T03:55:52.788Z,1761364552.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789367 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:53.011Z,1761364553.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268125
2025-10-25T03:55:53.124Z,1761364553.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:53.126Z,1761364553.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:53.129Z,1761364553.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 370.568024 m,
      bearing: 331.705089 deg,
      approach rate: -0.581404 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.706307 deg,
      new cmd heading: 331.705089 deg.

2025-10-25T03:55:53.130Z,1761364553.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789346 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:53.262Z,1761364553.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518622
2025-10-25T03:55:53.517Z,1761364553.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773763
2025-10-25T03:55:53.529Z,1761364553.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883147,0.467394,-0.039932],[-0.469083,0.879261,-0.082839],[-0.003608,0.091890,0.995763]]
2025-10-25T03:55:53.579Z,1761364553.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:53.589Z,1761364553.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 370.309906 m,
      bearing: 331.704536 deg,
      approach rate: -0.570865 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.705077 deg,
      new cmd heading: 331.704536 deg.

2025-10-25T03:55:53.590Z,1761364553.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789336 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:53.766Z,1761364553.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976
2025-10-25T03:55:53.900Z,1761364553.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883246,0.467228,-0.039684],[-0.468891,0.879287,-0.083643],[-0.004187,0.092485,0.995705]]
2025-10-25T03:55:53.957Z,1761364553.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:53.959Z,1761364553.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 370.106384 m,
      bearing: 331.704091 deg,
      approach rate: -0.540209 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.704531 deg,
      new cmd heading: 331.704091 deg.

2025-10-25T03:55:53.960Z,1761364553.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789329 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:54.025Z,1761364554.025 [DAT](INFO): DAT read: Rx Time:03:55:53.1136

2025-10-25T03:55:54.026Z,1761364554.026 [DAT](INFO): Rx dataTimestamp_ set to:1761364554.025219
2025-10-25T03:55:54.027Z,1761364554.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284069
2025-10-25T03:55:54.274Z,1761364554.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530894
2025-10-25T03:55:54.314Z,1761364554.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883420,0.466921,-0.039418],[-0.468558,0.879409,-0.084222],[-0.004660,0.092873,0.995667]]
2025-10-25T03:55:54.347Z,1761364554.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:54.351Z,1761364554.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 369.870941 m,
      bearing: 331.703563 deg,
      approach rate: -0.601019 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.704094 deg,
      new cmd heading: 331.703563 deg.

2025-10-25T03:55:54.352Z,1761364554.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789320 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:54.526Z,1761364554.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782772
2025-10-25T03:55:54.714Z,1761364554.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883166,0.467466,-0.038645],[-0.469030,0.879167,-0.084123],[-0.005349,0.092420,0.995706]]
2025-10-25T03:55:54.770Z,1761364554.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.18 m.
2025-10-25T03:55:54.772Z,1761364554.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 387.175598 m,
      nav range: 369.634247 m,
      bearing: 331.703458 deg,
      approach rate: -0.560307 m/s,
      LOS rate: nan deg/s,
      cmd heading: 331.703574 deg,
      new cmd heading: 331.703458 deg.

2025-10-25T03:55:54.784Z,1761364554.784 [DAT](INFO): DAT read: 03:55:53.1136 LVL= 22160, 25585, 21746, 32755, AGC= 68, IDX= 404, 0.26,-1.919, 3.061,-1.888,-2.327, PHS= 0.496,-0.849, 0.436, RAW= 147.7,  -1.3, CAL= 151.6, -10.3, ROT= 358.4,  10.3

2025-10-25T03:55:54.786Z,1761364554.786 [DAT](INFO): got valid direction response:
 03:55:53.1136 LVL= 22160, 25585, 21746, 32755, AGC= 68, IDX= 404, 0.26,-1.919, 3.061,-1.888,-2.327, PHS= 0.496,-0.849, 0.436, RAW= 147.7,  -1.3, CAL= 151.6, -10.3, ROT= 358.4,  10.3

2025-10-25T03:55:54.786Z,1761364554.786 [DAT](INFO): DAT read: Bearing 358.4,  10.3 (Local)

2025-10-25T03:55:54.787Z,1761364554.787 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  10.3 (Local)

2025-10-25T03:55:54.788Z,1761364554.788 [DAT](INFO): DAT read: Range 10 to 50 : 367.3 m  (Round-trip  489.8 ms) speed  0.4 m/s

2025-10-25T03:55:54.789Z,1761364554.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:55:54.790Z,1761364554.790 [DAT](INFO): direction in FSK: [0.983501,-0.027472,-0.178802]
2025-10-25T03:55:54.790Z,1761364554.790 [DAT](INFO): publishing direction and range info
2025-10-25T03:55:54.794Z,1761364554.794 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:54.794Z,1761364554.794 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:54.794Z,1761364554.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:55:54.797Z,1761364554.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789318 target range: 387.175598 and range: 369.90 m.
2025-10-25T03:55:55.031Z,1761364555.031 [DAT](INFO): DAT read: user:192>

2025-10-25T03:55:55.033Z,1761364555.033 [DAT](INFO): DAT read: Tx time:03:55:54.4697

2025-10-25T03:55:55.035Z,1761364555.035 [DAT](INFO): Ping request sent.
2025-10-25T03:55:55.035Z,1761364555.035 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:55:55.036Z,1761364555.036 [DAT](INFO): publishing transmit ping time
2025-10-25T03:55:55.041Z,1761364555.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005699
2025-10-25T03:55:55.198Z,1761364555.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882904,0.467945,-0.038841],[-0.469527,0.878944,-0.083681],[-0.005019,0.092119,0.995735]]
2025-10-25T03:55:55.223Z,1761364555.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 367.299988 m,
      deltaT: 4.287915 s,
      deltaX: -2.600006 m,
      approachRate: -0.606357 m/s,
      rangeRepo size: 4

2025-10-25T03:55:55.225Z,1761364555.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.224457 m,
      bearing: 331.361404 deg,
      lat: 36.779358 deg,
      lon: -121.859867 deg,
      deltaT: 36.568296 s,
      deltaX: -20.951141 m,
      approachRate: -0.572932 m/s,
      posRepo size: 2

2025-10-25T03:55:55.226Z,1761364555.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:55.227Z,1761364555.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 331.361404 deg.
2025-10-25T03:55:55.228Z,1761364555.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783348 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:55.283Z,1761364555.283 [DAT](INFO): DAT read: TxSync time:03:55:54.4689

2025-10-25T03:55:55.284Z,1761364555.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249638
2025-10-25T03:55:55.537Z,1761364555.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502285
2025-10-25T03:55:55.627Z,1761364555.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881941,0.469628,-0.040374],[-0.471350,0.878106,-0.082216],[-0.003159,0.091540,0.995796]]
2025-10-25T03:55:55.665Z,1761364555.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:55.669Z,1761364555.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:55.671Z,1761364555.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 351.455872 m,
      bearing: 330.087333 deg,
      approach rate: -0.579229 m/s,
      LOS rate: -0.000162 deg/s,
      cmd heading: 331.361409 deg,
      new cmd heading: 331.361193 deg.

2025-10-25T03:55:55.672Z,1761364555.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783344 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:55.787Z,1761364555.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751989
2025-10-25T03:55:56.027Z,1761364556.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881767,0.469848,-0.041583],[-0.471682,0.878042,-0.080981],[-0.001538,0.091021,0.995848]]
2025-10-25T03:55:56.039Z,1761364556.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003814
2025-10-25T03:55:56.088Z,1761364556.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:56.095Z,1761364556.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 351.217957 m,
      bearing: 330.087282 deg,
      approach rate: -0.566794 m/s,
      LOS rate: -0.000122 deg/s,
      cmd heading: 331.361191 deg,
      new cmd heading: 331.361037 deg.

2025-10-25T03:55:56.096Z,1761364556.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783341 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:56.290Z,1761364556.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255273
2025-10-25T03:55:56.431Z,1761364556.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881481,0.470249,-0.043086],[-0.472218,0.877747,-0.081053],[-0.000296,0.091793,0.995778]]
2025-10-25T03:55:56.452Z,1761364556.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:56.455Z,1761364556.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 351.004974 m,
      bearing: 330.087256 deg,
      approach rate: -0.585753 m/s,
      LOS rate: -0.000071 deg/s,
      cmd heading: 331.361027 deg,
      new cmd heading: 331.360949 deg.

2025-10-25T03:55:56.456Z,1761364556.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783340 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:56.545Z,1761364556.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509402
2025-10-25T03:55:56.793Z,1761364556.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758847
2025-10-25T03:55:56.871Z,1761364556.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881534,0.470209,-0.042441],[-0.472119,0.877789,-0.081180],[-0.000918,0.091600,0.995795]]
2025-10-25T03:55:56.932Z,1761364556.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:56.935Z,1761364556.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 350.720062 m,
      bearing: 330.088474 deg,
      approach rate: -0.593652 m/s,
      LOS rate: 0.002540 deg/s,
      cmd heading: 331.360945 deg,
      new cmd heading: 331.364602 deg.

2025-10-25T03:55:56.935Z,1761364556.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783403 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:57.048Z,1761364557.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013383
2025-10-25T03:55:57.237Z,1761364557.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881049,0.471188,-0.041659],[-0.473025,0.877455,-0.079503],[-0.000907,0.089752,0.995964]]
2025-10-25T03:55:57.256Z,1761364557.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:57.258Z,1761364557.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 350.529175 m,
      bearing: 330.089326 deg,
      approach rate: -0.589239 m/s,
      LOS rate: 0.002632 deg/s,
      cmd heading: 331.364606 deg,
      new cmd heading: 331.367164 deg.

2025-10-25T03:55:57.259Z,1761364557.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783448 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:57.302Z,1761364557.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267617
2025-10-25T03:55:57.556Z,1761364557.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521089
2025-10-25T03:55:57.641Z,1761364557.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880312,0.472614,-0.041078],[-0.474395,0.876828,-0.078239],[-0.000959,0.088362,0.996088]]
2025-10-25T03:55:57.703Z,1761364557.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:57.705Z,1761364557.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:57.708Z,1761364557.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 350.270050 m,
      bearing: 330.091593 deg,
      approach rate: -0.576883 m/s,
      LOS rate: 0.005052 deg/s,
      cmd heading: 331.367174 deg,
      new cmd heading: 331.373981 deg.

2025-10-25T03:55:57.709Z,1761364557.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783567 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:57.808Z,1761364557.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773155
2025-10-25T03:55:58.047Z,1761364558.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879717,0.473746,-0.040783],[-0.475497,0.876274,-0.077753],[-0.001099,0.087793,0.996138]]
2025-10-25T03:55:58.062Z,1761364558.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027077
2025-10-25T03:55:58.068Z,1761364558.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:58.071Z,1761364558.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 350.035370 m,
      bearing: 330.093699 deg,
      approach rate: -0.646646 m/s,
      LOS rate: 0.005806 deg/s,
      cmd heading: 331.373977 deg,
      new cmd heading: 331.380299 deg.

2025-10-25T03:55:58.071Z,1761364558.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783677 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:58.317Z,1761364558.317 [DAT](INFO): DAT read: Rx Time:03:55:57.3601

2025-10-25T03:55:58.318Z,1761364558.318 [DAT](INFO): Rx dataTimestamp_ set to:1761364558.317543
2025-10-25T03:55:58.319Z,1761364558.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284472
2025-10-25T03:55:58.448Z,1761364558.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878988,0.475105,-0.040688],[-0.476843,0.875584,-0.077283],[-0.001092,0.087333,0.996179]]
2025-10-25T03:55:58.478Z,1761364558.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:58.481Z,1761364558.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 349.784973 m,
      bearing: 330.096013 deg,
      approach rate: -0.609745 m/s,
      LOS rate: 0.005639 deg/s,
      cmd heading: 331.380288 deg,
      new cmd heading: 331.387235 deg.

2025-10-25T03:55:58.483Z,1761364558.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783798 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:58.569Z,1761364558.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533867
2025-10-25T03:55:58.854Z,1761364558.854 [DAT](INFO): DAT read: 03:55:57.3601 LVL= 30704, 32753, 30418, 32755, AGC= 69, IDX= 399, 0.08,-2.024, 2.715,-2.013,-2.740, PHS= 0.804,-0.781, 0.724, RAW= 147.4,  -9.7, CAL= 154.0, -18.1, ROT= 356.0,  18.1

2025-10-25T03:55:58.855Z,1761364558.855 [DAT](INFO): got valid direction response:
 03:55:57.3601 LVL= 30704, 32753, 30418, 32755, AGC= 69, IDX= 399, 0.08,-2.024, 2.715,-2.013,-2.740, PHS= 0.804,-0.781, 0.724, RAW= 147.4,  -9.7, CAL= 154.0, -18.1, ROT= 356.0,  18.1

2025-10-25T03:55:58.855Z,1761364558.855 [DAT](INFO): DAT read: $Error in header

2025-10-25T03:55:58.856Z,1761364558.856 [DAT](INFO): Received a bad header
2025-10-25T03:55:58.869Z,1761364558.869 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T03:55:58.870Z,1761364558.870 [DAT](INFO): direction in FSK: [0.948200,-0.066305,-0.310676]
2025-10-25T03:55:58.873Z,1761364558.873 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:58.873Z,1761364558.873 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:58.873Z,1761364558.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:58.972Z,1761364558.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:58.979Z,1761364558.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 349.487579 m,
      bearing: 330.099476 deg,
      approach rate: -0.602889 m/s,
      LOS rate: 0.007026 deg/s,
      cmd heading: 331.387227 deg,
      new cmd heading: 331.397625 deg.

2025-10-25T03:55:58.980Z,1761364558.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783980 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:59.071Z,1761364559.071 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:59.071Z,1761364559.071 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:59.071Z,1761364559.071 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:59.272Z,1761364559.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877341,0.478062,-0.041589],[-0.479868,0.874023,-0.076229],[-0.000092,0.086836,0.996223]]
2025-10-25T03:55:59.310Z,1761364559.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:59.314Z,1761364559.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 349.271545 m,
      bearing: 330.102119 deg,
      approach rate: -0.639907 m/s,
      LOS rate: 0.007832 deg/s,
      cmd heading: 331.397637 deg,
      new cmd heading: 331.405569 deg.

2025-10-25T03:55:59.316Z,1761364559.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784118 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:59.321Z,1761364559.321 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:59.322Z,1761364559.322 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:59.322Z,1761364559.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:59.576Z,1761364559.576 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:59.576Z,1761364559.576 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:59.577Z,1761364559.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:55:59.674Z,1761364559.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876496,0.479556,-0.042191],[-0.481408,0.873182,-0.076154],[0.000321,0.087060,0.996203]]
2025-10-25T03:55:59.735Z,1761364559.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:55:59.741Z,1761364559.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:55:59.752Z,1761364559.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 349.007263 m,
      bearing: 330.106110 deg,
      approach rate: -0.618443 m/s,
      LOS rate: 0.009347 deg/s,
      cmd heading: 331.405560 deg,
      new cmd heading: 331.417542 deg.

2025-10-25T03:55:59.757Z,1761364559.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784328 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:55:59.825Z,1761364559.825 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:55:59.826Z,1761364559.826 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:55:59.826Z,1761364559.826 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:00.079Z,1761364560.079 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:00.079Z,1761364560.079 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:00.079Z,1761364560.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:00.081Z,1761364560.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875784,0.480744,-0.043445],[-0.482703,0.872385,-0.077083],[0.000844,0.088479,0.996078]]
2025-10-25T03:56:00.100Z,1761364560.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:00.103Z,1761364560.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 348.764893 m,
      bearing: 330.109833 deg,
      approach rate: -0.666655 m/s,
      LOS rate: 0.010247 deg/s,
      cmd heading: 331.417553 deg,
      new cmd heading: 331.428730 deg.

2025-10-25T03:56:00.104Z,1761364560.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784523 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:00.332Z,1761364560.332 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:00.332Z,1761364560.332 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:00.334Z,1761364560.334 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:00.481Z,1761364560.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875112,0.481855,-0.044668],[-0.483919,0.871667,-0.077584],[0.001551,0.089511,0.995985]]
2025-10-25T03:56:00.514Z,1761364560.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:00.518Z,1761364560.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 348.510132 m,
      bearing: 330.113808 deg,
      approach rate: -0.615320 m/s,
      LOS rate: 0.009609 deg/s,
      cmd heading: 331.428728 deg,
      new cmd heading: 331.440663 deg.

2025-10-25T03:56:00.519Z,1761364560.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784731 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:00.593Z,1761364560.593 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:00.594Z,1761364560.594 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:00.594Z,1761364560.594 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:00.842Z,1761364560.842 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:00.842Z,1761364560.842 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:00.842Z,1761364560.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:01.002Z,1761364561.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873981,0.483648,-0.047349],[-0.485950,0.870430,-0.078768],[0.003118,0.091851,0.995768]]
2025-10-25T03:56:01.062Z,1761364561.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:01.065Z,1761364561.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 348.147919 m,
      bearing: 330.118929 deg,
      approach rate: -0.661401 m/s,
      LOS rate: 0.009361 deg/s,
      cmd heading: 331.440667 deg,
      new cmd heading: 331.456046 deg.

2025-10-25T03:56:01.066Z,1761364561.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784999 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:01.095Z,1761364561.095 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:01.096Z,1761364561.096 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:01.096Z,1761364561.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:01.346Z,1761364561.346 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:01.346Z,1761364561.346 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:01.346Z,1761364561.346 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:01.405Z,1761364561.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874028,0.483372,-0.049262],[-0.485858,0.870360,-0.080098],[0.004158,0.093942,0.995569]]
2025-10-25T03:56:01.440Z,1761364561.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:01.443Z,1761364561.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 347.904968 m,
      bearing: 330.122365 deg,
      approach rate: -0.642035 m/s,
      LOS rate: 0.009086 deg/s,
      cmd heading: 331.456048 deg,
      new cmd heading: 331.466363 deg.

2025-10-25T03:56:01.444Z,1761364561.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785180 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:01.600Z,1761364561.600 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:01.601Z,1761364561.601 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:01.601Z,1761364561.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:01.821Z,1761364561.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873895,0.483451,-0.050816],[-0.486084,0.870215,-0.080302],[0.005399,0.094876,0.995474]]
2025-10-25T03:56:01.851Z,1761364561.851 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:01.851Z,1761364561.851 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:01.851Z,1761364561.851 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:01.923Z,1761364561.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:01.930Z,1761364561.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:01.938Z,1761364561.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 347.602875 m,
      bearing: 330.126740 deg,
      approach rate: -0.617148 m/s,
      LOS rate: 0.008946 deg/s,
      cmd heading: 331.466376 deg,
      new cmd heading: 331.479513 deg.

2025-10-25T03:56:01.938Z,1761364561.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785409 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:02.105Z,1761364562.105 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:02.105Z,1761364562.105 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:02.105Z,1761364562.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:02.227Z,1761364562.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873730,0.483496,-0.053180],[-0.486357,0.870033,-0.080616],[0.007291,0.096301,0.995326]]
2025-10-25T03:56:02.246Z,1761364562.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:02.250Z,1761364562.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 347.393738 m,
      bearing: 330.129785 deg,
      approach rate: -0.660557 m/s,
      LOS rate: 0.009622 deg/s,
      cmd heading: 331.479517 deg,
      new cmd heading: 331.488656 deg.

2025-10-25T03:56:02.251Z,1761364562.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785569 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:02.357Z,1761364562.357 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:02.358Z,1761364562.358 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:02.358Z,1761364562.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:02.612Z,1761364562.612 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:02.612Z,1761364562.612 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:02.613Z,1761364562.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:02.651Z,1761364562.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873623,0.483459,-0.055237],[-0.486513,0.870008,-0.079942],[0.009407,0.096713,0.995268]]
2025-10-25T03:56:02.730Z,1761364562.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:02.738Z,1761364562.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 347.107483 m,
      bearing: 330.133195 deg,
      approach rate: -0.591746 m/s,
      LOS rate: 0.007055 deg/s,
      cmd heading: 331.488669 deg,
      new cmd heading: 331.498908 deg.

2025-10-25T03:56:02.739Z,1761364562.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785748 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:02.861Z,1761364562.861 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:02.861Z,1761364562.861 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:02.861Z,1761364562.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:03.043Z,1761364563.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873699,0.482973,-0.058203],[-0.486327,0.870046,-0.080665],[0.011681,0.098782,0.995041]]
2025-10-25T03:56:03.072Z,1761364563.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:03.075Z,1761364563.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 346.891052 m,
      bearing: 330.135771 deg,
      approach rate: -0.634157 m/s,
      LOS rate: 0.007554 deg/s,
      cmd heading: 331.498915 deg,
      new cmd heading: 331.506649 deg.

2025-10-25T03:56:03.076Z,1761364563.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785882 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:03.113Z,1761364563.113 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:03.113Z,1761364563.113 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:03.114Z,1761364563.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:03.366Z,1761364563.366 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:03.366Z,1761364563.366 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:03.366Z,1761364563.366 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:03.442Z,1761364563.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873721,0.482655,-0.060464],[-0.486230,0.870138,-0.080255],[0.013877,0.099520,0.994939]]
2025-10-25T03:56:03.462Z,1761364563.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:03.465Z,1761364563.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 346.649353 m,
      bearing: 330.138649 deg,
      approach rate: -0.618893 m/s,
      LOS rate: 0.007374 deg/s,
      cmd heading: 331.506646 deg,
      new cmd heading: 331.515285 deg.

2025-10-25T03:56:03.467Z,1761364563.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786033 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:03.621Z,1761364563.621 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:03.621Z,1761364563.621 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:03.622Z,1761364563.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:03.843Z,1761364563.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874087,0.481795,-0.062007],[-0.485507,0.870660,-0.078958],[0.015945,0.099121,0.994948]]
2025-10-25T03:56:03.869Z,1761364563.869 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:03.870Z,1761364563.870 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:03.870Z,1761364563.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:03.927Z,1761364563.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:03.936Z,1761364563.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 346.374756 m,
      bearing: 330.139586 deg,
      approach rate: -0.590952 m/s,
      LOS rate: 0.002018 deg/s,
      cmd heading: 331.515280 deg,
      new cmd heading: 331.518093 deg.

2025-10-25T03:56:03.943Z,1761364563.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786082 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:04.123Z,1761364564.123 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:04.123Z,1761364564.123 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:04.123Z,1761364564.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:04.243Z,1761364564.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874404,0.480949,-0.064078],[-0.484865,0.871045,-0.078657],[0.017985,0.099847,0.994840]]
2025-10-25T03:56:04.313Z,1761364564.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:04.321Z,1761364564.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:04.330Z,1761364564.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 346.156982 m,
      bearing: 330.140306 deg,
      approach rate: -0.559334 m/s,
      LOS rate: 0.001849 deg/s,
      cmd heading: 331.518094 deg,
      new cmd heading: 331.520254 deg.

2025-10-25T03:56:04.331Z,1761364564.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786120 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:04.373Z,1761364564.373 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:04.374Z,1761364564.374 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:04.374Z,1761364564.374 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:04.628Z,1761364564.628 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:04.628Z,1761364564.628 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:04.637Z,1761364564.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:04.691Z,1761364564.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874886,0.479788,-0.066167],[-0.483900,0.871666,-0.077720],[0.020386,0.100014,0.994777]]
2025-10-25T03:56:04.746Z,1761364564.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:04.748Z,1761364564.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 345.885986 m,
      bearing: 330.139913 deg,
      approach rate: -0.630738 m/s,
      LOS rate: -0.000914 deg/s,
      cmd heading: 331.520252 deg,
      new cmd heading: 331.519074 deg.

2025-10-25T03:56:04.751Z,1761364564.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786099 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:04.879Z,1761364564.879 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:04.879Z,1761364564.879 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:04.879Z,1761364564.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T03:56:05.057Z,1761364565.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875112,0.479102,-0.068117],[-0.483387,0.872050,-0.076593],[0.022705,0.099954,0.994733]]
2025-10-25T03:56:05.097Z,1761364565.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:05.100Z,1761364565.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 345.687592 m,
      bearing: 330.139607 deg,
      approach rate: -0.565300 m/s,
      LOS rate: -0.000873 deg/s,
      cmd heading: 331.519077 deg,
      new cmd heading: 331.518159 deg.

2025-10-25T03:56:05.121Z,1761364565.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786083 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:05.129Z,1761364565.129 [DAT](INFO): Reached modem response timeout
2025-10-25T03:56:05.130Z,1761364565.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:05.130Z,1761364565.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:05.381Z,1761364565.381 [DAT](INFO): DAT read: 

2025-10-25T03:56:05.382Z,1761364565.382 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:05.459Z,1761364565.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875492,0.478048,-0.070599],[-0.482592,0.872474,-0.076775],[0.024894,0.101286,0.994546]]
2025-10-25T03:56:05.479Z,1761364565.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:05.483Z,1761364565.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 345.459076 m,
      bearing: 330.139223 deg,
      approach rate: -0.597152 m/s,
      LOS rate: -0.001005 deg/s,
      cmd heading: 331.518148 deg,
      new cmd heading: 331.516994 deg.

2025-10-25T03:56:05.484Z,1761364565.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786063 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:05.636Z,1761364565.636 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:05.886Z,1761364565.886 [DAT](INFO): DAT read: Response Not Received

2025-10-25T03:56:05.886Z,1761364565.886 [DAT](INFO): response not received
2025-10-25T03:56:05.887Z,1761364565.887 [DAT](INFO): DAT read: user:194>Tx time:03:56:05.4213

2025-10-25T03:56:05.887Z,1761364565.887 [DAT](ERROR): No response from remote modem.
2025-10-25T03:56:05.887Z,1761364565.887 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:05.887Z,1761364565.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:05.955Z,1761364565.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:05.958Z,1761364565.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 345.189697 m,
      bearing: 330.136072 deg,
      approach rate: -0.566094 m/s,
      LOS rate: -0.006625 deg/s,
      cmd heading: 331.517001 deg,
      new cmd heading: 331.507543 deg.

2025-10-25T03:56:05.959Z,1761364565.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785898 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:06.137Z,1761364566.137 [DAT](INFO): DAT read: 

2025-10-25T03:56:06.138Z,1761364566.138 [DAT](INFO): DAT read: TxSync time:03:56:05.4206

2025-10-25T03:56:06.139Z,1761364566.139 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:06.262Z,1761364566.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875950,0.476758,-0.073580],[-0.481542,0.873261,-0.074377],[0.028794,0.100582,0.994512]]
2025-10-25T03:56:06.314Z,1761364566.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:06.322Z,1761364566.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 345.002045 m,
      bearing: 330.133838 deg,
      approach rate: -0.522671 m/s,
      LOS rate: -0.006226 deg/s,
      cmd heading: 331.507548 deg,
      new cmd heading: 331.500842 deg.

2025-10-25T03:56:06.323Z,1761364566.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785781 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:06.389Z,1761364566.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:06.657Z,1761364566.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:06.778Z,1761364566.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:06.781Z,1761364566.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:06.785Z,1761364566.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 344.728485 m,
      bearing: 330.130351 deg,
      approach rate: -0.586654 m/s,
      LOS rate: -0.007485 deg/s,
      cmd heading: 331.500854 deg,
      new cmd heading: 331.490384 deg.

2025-10-25T03:56:06.786Z,1761364566.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785599 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:06.898Z,1761364566.898 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:07.114Z,1761364567.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:07.138Z,1761364567.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 344.544312 m,
      bearing: 330.128000 deg,
      approach rate: -0.552603 m/s,
      LOS rate: -0.007057 deg/s,
      cmd heading: 331.490391 deg,
      new cmd heading: 331.483335 deg.

2025-10-25T03:56:07.139Z,1761364567.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785476 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:07.149Z,1761364567.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:07.401Z,1761364567.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:07.514Z,1761364567.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:07.538Z,1761364567.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 344.323303 m,
      bearing: 330.125176 deg,
      approach rate: -0.551671 m/s,
      LOS rate: -0.007054 deg/s,
      cmd heading: 331.483342 deg,
      new cmd heading: 331.474864 deg.

2025-10-25T03:56:07.539Z,1761364567.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785328 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:07.653Z,1761364567.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:07.905Z,1761364567.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:07.954Z,1761364567.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:07.958Z,1761364567.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 344.092010 m,
      bearing: 330.122216 deg,
      approach rate: -0.525793 m/s,
      LOS rate: -0.006733 deg/s,
      cmd heading: 331.474872 deg,
      new cmd heading: 331.465987 deg.

2025-10-25T03:56:07.959Z,1761364567.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785173 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:08.157Z,1761364568.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:08.283Z,1761364568.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877361,0.473230,-0.079314],[-0.478459,0.875308,-0.070091],[0.036255,0.099444,0.994383]]
2025-10-25T03:56:08.329Z,1761364568.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:08.333Z,1761364568.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 343.874298 m,
      bearing: 330.119301 deg,
      approach rate: -0.580390 m/s,
      LOS rate: -0.007775 deg/s,
      cmd heading: 331.465993 deg,
      new cmd heading: 331.457244 deg.

2025-10-25T03:56:08.334Z,1761364568.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785020 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:08.409Z,1761364568.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:08.664Z,1761364568.664 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:08.807Z,1761364568.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:08.810Z,1761364568.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:08.813Z,1761364568.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 343.614594 m,
      bearing: 330.117359 deg,
      approach rate: -0.540537 m/s,
      LOS rate: -0.004045 deg/s,
      cmd heading: 331.457251 deg,
      new cmd heading: 331.451421 deg.

2025-10-25T03:56:08.814Z,1761364568.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784919 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:08.914Z,1761364568.914 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:09.129Z,1761364569.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876167,0.475018,-0.081790],[-0.480442,0.874322,-0.068823],[0.038819,0.099596,0.994270]]
2025-10-25T03:56:09.165Z,1761364569.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:09.201Z,1761364569.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:09.210Z,1761364569.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 343.422882 m,
      bearing: 330.115998 deg,
      approach rate: -0.517195 m/s,
      LOS rate: -0.003674 deg/s,
      cmd heading: 331.451431 deg,
      new cmd heading: 331.447345 deg.

2025-10-25T03:56:09.211Z,1761364569.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784847 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:09.421Z,1761364569.421 [DAT](INFO): DAT read: Rx Time:03:56:08.2916

2025-10-25T03:56:09.421Z,1761364569.421 [DAT](INFO): Rx dataTimestamp_ set to:1761364569.420882
2025-10-25T03:56:09.422Z,1761364569.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:09.584Z,1761364569.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.22 m.
2025-10-25T03:56:09.590Z,1761364569.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.224457 m,
      nav range: 343.199127 m,
      bearing: 330.114407 deg,
      approach rate: -0.555597 m/s,
      LOS rate: -0.003953 deg/s,
      cmd heading: 331.447333 deg,
      new cmd heading: 331.442557 deg.

2025-10-25T03:56:09.592Z,1761364569.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784764 target range: 366.224457 and range: 367.30 m.
2025-10-25T03:56:09.672Z,1761364569.672 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:09.917Z,1761364569.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874406,0.478057,-0.082917],[-0.483426,0.872981,-0.064842],[0.041387,0.096783,0.994445]]
2025-10-25T03:56:09.927Z,1761364569.927 [DAT](INFO): DAT read: 03:56:08.2916 LVL= 21232, 26401, 18322, 32755, AGC= 69, IDX= 374, 0.05, 2.452, 0.795, 2.505, 1.724, PHS= 0.816,-0.882, 0.778, RAW= 148.9,  -8.5, CAL= 154.9, -16.8, ROT= 355.1,  16.8

2025-10-25T03:56:09.929Z,1761364569.929 [DAT](INFO): got valid direction response:
 03:56:08.2916 LVL= 21232, 26401, 18322, 32755, AGC= 69, IDX= 374, 0.05, 2.452, 0.795, 2.505, 1.724, PHS= 0.816,-0.882, 0.778, RAW= 148.9,  -8.5, CAL= 154.9, -16.8, ROT= 355.1,  16.8

2025-10-25T03:56:09.930Z,1761364569.930 [DAT](INFO): DAT read: Bearing 355.1,  16.8 (Local)

2025-10-25T03:56:09.930Z,1761364569.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  16.8 (Local)

2025-10-25T03:56:09.931Z,1761364569.931 [DAT](INFO): DAT read: Range 10 to 50 : 349.5 m  (Round-trip  466.1 ms) speed  0.5 m/s

2025-10-25T03:56:09.934Z,1761364569.934 [DAT](INFO): DAT read: user:195>Tx time:03:56:09.3698

2025-10-25T03:56:09.934Z,1761364569.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:09.937Z,1761364569.937 [DAT](INFO): direction in FSK: [0.953821,-0.081771,-0.289032]
2025-10-25T03:56:09.938Z,1761364569.938 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:09.944Z,1761364569.944 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:09.944Z,1761364569.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:10.098Z,1761364570.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 349.500000 m,
      deltaT: 15.143707 s,
      deltaX: -17.799988 m,
      approachRate: -1.175405 m/s,
      rangeRepo size: 4

2025-10-25T03:56:10.108Z,1761364570.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.475983 m,
      bearing: 327.897553 deg,
      lat: 36.779358 deg,
      lon: -121.859867 deg,
      deltaT: 15.143707 s,
      deltaX: -17.748474 m,
      approachRate: -1.172003 m/s,
      posRepo size: 3

2025-10-25T03:56:10.113Z,1761364570.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:10.115Z,1761364570.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 342.928009 m,
      bearing: 330.113654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003953 deg/s,
      cmd heading: 331.442552 deg,
      new cmd heading: 331.436464 deg.

2025-10-25T03:56:10.116Z,1761364570.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784657 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:10.177Z,1761364570.177 [DAT](INFO): DAT read: TxSync time:03:56:09.3690

2025-10-25T03:56:10.178Z,1761364570.178 [DAT](INFO): DAT read: 

2025-10-25T03:56:10.179Z,1761364570.179 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:10.382Z,1761364570.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873788,0.478973,-0.084142],[-0.484424,0.872489,-0.063998],[0.042759,0.096681,0.994397]]
2025-10-25T03:56:10.406Z,1761364570.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:10.409Z,1761364570.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 342.742371 m,
      bearing: 330.113175 deg,
      approach rate: -0.599046 m/s,
      LOS rate: -0.001548 deg/s,
      cmd heading: 331.436459 deg,
      new cmd heading: 331.435020 deg.

2025-10-25T03:56:10.410Z,1761364570.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784632 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:10.425Z,1761364570.425 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:10.677Z,1761364570.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:10.780Z,1761364570.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872099,0.482094,-0.083835],[-0.487171,0.871488,-0.056329],[0.045906,0.089966,0.994886]]
2025-10-25T03:56:10.839Z,1761364570.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:10.841Z,1761364570.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:10.843Z,1761364570.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 342.494995 m,
      bearing: 330.114990 deg,
      approach rate: -0.569735 m/s,
      LOS rate: 0.004183 deg/s,
      cmd heading: 331.435011 deg,
      new cmd heading: 331.440460 deg.

2025-10-25T03:56:10.845Z,1761364570.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784727 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:10.930Z,1761364570.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:11.181Z,1761364571.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:11.190Z,1761364571.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872409,0.481248,-0.085460],[-0.486480,0.871863,-0.056486],[0.047326,0.090854,0.994739]]
2025-10-25T03:56:11.228Z,1761364571.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:11.242Z,1761364571.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 342.275391 m,
      bearing: 330.116573 deg,
      approach rate: -0.566674 m/s,
      LOS rate: 0.004086 deg/s,
      cmd heading: 331.440448 deg,
      new cmd heading: 331.445199 deg.

2025-10-25T03:56:11.243Z,1761364571.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784810 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:11.434Z,1761364571.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:11.595Z,1761364571.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871994,0.481810,-0.086521],[-0.487169,0.871439,-0.057097],[0.047888,0.091938,0.994613]]
2025-10-25T03:56:11.623Z,1761364571.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:11.626Z,1761364571.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 342.053650 m,
      bearing: 330.118199 deg,
      approach rate: -0.561564 m/s,
      LOS rate: 0.004121 deg/s,
      cmd heading: 331.445202 deg,
      new cmd heading: 331.450084 deg.

2025-10-25T03:56:11.627Z,1761364571.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784895 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:11.686Z,1761364571.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:11.938Z,1761364571.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:11.996Z,1761364571.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871434,0.482766,-0.086829],[-0.488165,0.870865,-0.057354],[0.047928,0.092367,0.994571]]
2025-10-25T03:56:12.045Z,1761364572.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:12.047Z,1761364572.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 341.802032 m,
      bearing: 330.121903 deg,
      approach rate: -0.596893 m/s,
      LOS rate: 0.008793 deg/s,
      cmd heading: 331.450092 deg,
      new cmd heading: 331.461212 deg.

2025-10-25T03:56:12.049Z,1761364572.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785089 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:12.190Z,1761364572.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:12.402Z,1761364572.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870331,0.484581,-0.087781],[-0.490050,0.869829,-0.056995],[0.048736,0.092622,0.994508]]
2025-10-25T03:56:12.421Z,1761364572.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:12.424Z,1761364572.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 341.578949 m,
      bearing: 330.125273 deg,
      approach rate: -0.592396 m/s,
      LOS rate: 0.008955 deg/s,
      cmd heading: 331.461212 deg,
      new cmd heading: 331.471329 deg.

2025-10-25T03:56:12.425Z,1761364572.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785266 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:12.444Z,1761364572.444 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:12.693Z,1761364572.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:12.867Z,1761364572.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:12.869Z,1761364572.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:12.872Z,1761364572.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 341.298676 m,
      bearing: 330.132078 deg,
      approach rate: -0.625564 m/s,
      LOS rate: 0.015202 deg/s,
      cmd heading: 331.471321 deg,
      new cmd heading: 331.491754 deg.

2025-10-25T03:56:12.873Z,1761364572.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785623 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:12.945Z,1761364572.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:13.198Z,1761364573.198 [DAT](INFO): DAT read: Rx Time:03:56:12.2370

2025-10-25T03:56:13.198Z,1761364573.198 [DAT](INFO): Rx dataTimestamp_ set to:1761364573.197878
2025-10-25T03:56:13.198Z,1761364573.198 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:13.206Z,1761364573.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868000,0.488227,-0.090608],[-0.493911,0.867705,-0.056040],[0.051260,0.093395,0.994309]]
2025-10-25T03:56:13.266Z,1761364573.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:13.275Z,1761364573.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 341.054169 m,
      bearing: 330.138210 deg,
      approach rate: -0.615975 m/s,
      LOS rate: 0.015458 deg/s,
      cmd heading: 331.491757 deg,
      new cmd heading: 331.510164 deg.

2025-10-25T03:56:13.276Z,1761364573.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785944 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:13.451Z,1761364573.451 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:13.630Z,1761364573.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866593,0.490403,-0.092315],[-0.496233,0.866397,-0.055764],[0.052634,0.094135,0.994167]]
2025-10-25T03:56:13.669Z,1761364573.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:13.672Z,1761364573.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 340.804779 m,
      bearing: 330.144587 deg,
      approach rate: -0.618506 m/s,
      LOS rate: 0.015827 deg/s,
      cmd heading: 331.510171 deg,
      new cmd heading: 331.529316 deg.

2025-10-25T03:56:13.674Z,1761364573.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786278 target range: 348.475983 and range: 349.50 m.
2025-10-25T03:56:13.703Z,1761364573.703 [DAT](INFO): DAT read: Range 10 to 50 : 347.1 m  (Round-trip  462.9 ms) speed  0.5 m/s

2025-10-25T03:56:13.704Z,1761364573.704 [DAT](INFO): DAT read: user:196>Tx time:03:56:13.3199

2025-10-25T03:56:13.704Z,1761364573.704 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T03:56:13.705Z,1761364573.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:13.705Z,1761364573.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:13.957Z,1761364573.957 [DAT](INFO): DAT read: 

2025-10-25T03:56:13.958Z,1761364573.958 [DAT](INFO): DAT read: TxSync time:03:56:13.3191

2025-10-25T03:56:13.959Z,1761364573.959 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:14.107Z,1761364574.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.100006 m,
      deltaT: 3.780126 s,
      deltaX: -2.399994 m,
      approachRate: -0.634898 m/s,
      rangeRepo size: 4

2025-10-25T03:56:14.108Z,1761364574.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:14.114Z,1761364574.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 340.534424 m,
      bearing: 330.152227 deg,
      approach rate: -0.624889 m/s,
      LOS rate: 0.017672 deg/s,
      cmd heading: 331.529323 deg,
      new cmd heading: 331.552260 deg.

2025-10-25T03:56:14.116Z,1761364574.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786679 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:14.206Z,1761364574.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:14.427Z,1761364574.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862938,0.494606,-0.103456],[-0.502323,0.861894,-0.069360],[0.054862,0.111822,0.992213]]
2025-10-25T03:56:14.457Z,1761364574.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:14.473Z,1761364574.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:14.476Z,1761364574.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 340.288879 m,
      bearing: 330.159417 deg,
      approach rate: -0.669473 m/s,
      LOS rate: 0.019618 deg/s,
      cmd heading: 331.552272 deg,
      new cmd heading: 331.573858 deg.

2025-10-25T03:56:14.487Z,1761364574.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787055 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:14.710Z,1761364574.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:14.854Z,1761364574.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861595,0.496860,-0.103847],[-0.504603,0.860584,-0.069074],[0.055049,0.111915,0.992192]]
2025-10-25T03:56:14.933Z,1761364574.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:14.935Z,1761364574.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:14.958Z,1761364574.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 339.966034 m,
      bearing: 330.169227 deg,
      approach rate: -0.691977 m/s,
      LOS rate: 0.021048 deg/s,
      cmd heading: 331.573856 deg,
      new cmd heading: 331.603316 deg.

2025-10-25T03:56:14.959Z,1761364574.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787570 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:14.961Z,1761364574.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:15.215Z,1761364575.215 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:15.244Z,1761364575.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859530,0.500357,-0.104169],[-0.508034,0.858702,-0.067323],[0.055764,0.110788,0.992278]]
2025-10-25T03:56:15.292Z,1761364575.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:15.298Z,1761364575.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 339.723419 m,
      bearing: 330.176784 deg,
      approach rate: -0.680468 m/s,
      LOS rate: 0.021208 deg/s,
      cmd heading: 331.603307 deg,
      new cmd heading: 331.625992 deg.

2025-10-25T03:56:15.299Z,1761364575.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787965 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:15.467Z,1761364575.467 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:15.668Z,1761364575.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:15.671Z,1761364575.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 339.468201 m,
      bearing: 330.184745 deg,
      approach rate: -0.679315 m/s,
      LOS rate: 0.021206 deg/s,
      cmd heading: 331.625984 deg,
      new cmd heading: 331.649885 deg.

2025-10-25T03:56:15.671Z,1761364575.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788383 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:15.717Z,1761364575.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:15.969Z,1761364575.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:16.103Z,1761364576.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:16.106Z,1761364576.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 339.181305 m,
      bearing: 330.193924 deg,
      approach rate: -0.659124 m/s,
      LOS rate: 0.021106 deg/s,
      cmd heading: 331.649889 deg,
      new cmd heading: 331.677449 deg.

2025-10-25T03:56:16.107Z,1761364576.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788864 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:16.221Z,1761364576.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:16.446Z,1761364576.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855073,0.507899,-0.104350],[-0.515262,0.854819,-0.061566],[0.057931,0.106411,0.992633]]
2025-10-25T03:56:16.477Z,1761364576.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:16.486Z,1761364576.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:16.493Z,1761364576.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 338.938477 m,
      bearing: 330.202069 deg,
      approach rate: -0.633697 m/s,
      LOS rate: 0.021270 deg/s,
      cmd heading: 331.677456 deg,
      new cmd heading: 331.701908 deg.

2025-10-25T03:56:16.494Z,1761364576.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789290 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:16.730Z,1761364576.730 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:16.892Z,1761364576.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855034,0.507902,-0.104655],[-0.515263,0.854860,-0.060975],[0.058496,0.106060,0.992638]]
2025-10-25T03:56:16.938Z,1761364576.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:16.940Z,1761364576.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:16.943Z,1761364576.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 338.641449 m,
      bearing: 330.209358 deg,
      approach rate: -0.654654 m/s,
      LOS rate: 0.016079 deg/s,
      cmd heading: 331.701908 deg,
      new cmd heading: 331.723794 deg.

2025-10-25T03:56:16.944Z,1761364576.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789672 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:16.982Z,1761364576.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:17.234Z,1761364577.234 [DAT](INFO): DAT read: Rx Time:03:56:16.1840

2025-10-25T03:56:17.234Z,1761364577.234 [DAT](INFO): Rx dataTimestamp_ set to:1761364577.233694
2025-10-25T03:56:17.234Z,1761364577.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:17.251Z,1761364577.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855592,0.506656,-0.106123],[-0.514299,0.855290,-0.063060],[0.058816,0.108532,0.992351]]
2025-10-25T03:56:17.316Z,1761364577.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:17.326Z,1761364577.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 338.412415 m,
      bearing: 330.214948 deg,
      approach rate: -0.609968 m/s,
      LOS rate: 0.014898 deg/s,
      cmd heading: 331.723792 deg,
      new cmd heading: 331.740573 deg.

2025-10-25T03:56:17.327Z,1761364577.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789965 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:17.486Z,1761364577.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:17.678Z,1761364577.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856679,0.504463,-0.107784],[-0.512445,0.856206,-0.065657],[0.059164,0.111480,0.992004]]
2025-10-25T03:56:17.710Z,1761364577.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.48 m.
2025-10-25T03:56:17.712Z,1761364577.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.475983 m,
      nav range: 338.156219 m,
      bearing: 330.221121 deg,
      approach rate: -0.649783 m/s,
      LOS rate: 0.015669 deg/s,
      cmd heading: 331.740567 deg,
      new cmd heading: 331.759100 deg.

2025-10-25T03:56:17.713Z,1761364577.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790288 target range: 348.475983 and range: 347.10 m.
2025-10-25T03:56:17.744Z,1761364577.744 [DAT](INFO): DAT read: 03:56:16.1840 LVL= 20560, 28049, 20162, 32755, AGC= 67, IDX= 419,-0.01, 1.967, 0.556, 1.792, 1.377, PHS= 0.678,-0.774, 0.412, RAW= 140.1,  -4.8, CAL= 145.7, -14.3, ROT=   4.3,  14.3

2025-10-25T03:56:17.746Z,1761364577.746 [DAT](INFO): got valid direction response:
 03:56:16.1840 LVL= 20560, 28049, 20162, 32755, AGC= 67, IDX= 419,-0.01, 1.967, 0.556, 1.792, 1.377, PHS= 0.678,-0.774, 0.412, RAW= 140.1,  -4.8, CAL= 145.7, -14.3, ROT=   4.3,  14.3

2025-10-25T03:56:17.747Z,1761364577.747 [DAT](INFO): DAT read: Bearing   4.3,  14.3 (Local)

2025-10-25T03:56:17.747Z,1761364577.747 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  14.3 (Local)

2025-10-25T03:56:17.754Z,1761364577.754 [DAT](INFO): DAT read: Range 10 to 50 : 345.0 m  (Round-trip  460.0 ms) speed  0.5 m/s

2025-10-25T03:56:17.756Z,1761364577.756 [DAT](INFO): DAT read: user:197>Tx time:03:56:17.2699

2025-10-25T03:56:17.757Z,1761364577.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:17.758Z,1761364577.758 [DAT](INFO): direction in FSK: [0.966288,0.072656,-0.246999]
2025-10-25T03:56:17.759Z,1761364577.759 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:17.782Z,1761364577.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:17.783Z,1761364577.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:17.989Z,1761364577.989 [DAT](INFO): DAT read: 

2025-10-25T03:56:17.990Z,1761364577.990 [DAT](INFO): DAT read: TxSync time:03:56:17.2691

2025-10-25T03:56:17.991Z,1761364577.991 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:18.061Z,1761364578.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858234,0.501330,-0.110012],[-0.509777,0.857526,-0.069120],[0.059686,0.115402,0.991524]]
2025-10-25T03:56:18.119Z,1761364578.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.000000 m,
      deltaT: 4.036035 s,
      deltaX: -2.100006 m,
      approachRate: -0.520314 m/s,
      rangeRepo size: 4

2025-10-25T03:56:18.121Z,1761364578.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 343.993164 m,
      bearing: 335.166287 deg,
      lat: 36.779457 deg,
      lon: -121.859834 deg,
      deltaT: 7.816161 s,
      deltaX: -4.482819 m,
      approachRate: -0.573532 m/s,
      posRepo size: 4

2025-10-25T03:56:18.122Z,1761364578.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:18.124Z,1761364578.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 346.092590 m,
      bearing: 331.547367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015669 deg/s,
      cmd heading: 331.759090 deg,
      new cmd heading: 331.778293 deg.

2025-10-25T03:56:18.125Z,1761364578.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790624 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:18.242Z,1761364578.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:18.467Z,1761364578.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858982,0.501190,-0.104687],[-0.508374,0.859181,-0.057996],[0.060878,0.103037,0.992813]]
2025-10-25T03:56:18.493Z,1761364578.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:18.495Z,1761364578.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:18.498Z,1761364578.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 345.870361 m,
      bearing: 331.551487 deg,
      approach rate: -0.589387 m/s,
      LOS rate: 0.010932 deg/s,
      cmd heading: 331.778297 deg,
      new cmd heading: 331.790663 deg.

2025-10-25T03:56:18.500Z,1761364578.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790840 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:18.745Z,1761364578.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:18.972Z,1761364578.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:18.975Z,1761364578.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:18.977Z,1761364578.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 345.608154 m,
      bearing: 331.552807 deg,
      approach rate: -0.546878 m/s,
      LOS rate: 0.002757 deg/s,
      cmd heading: 331.790673 deg,
      new cmd heading: 331.794638 deg.

2025-10-25T03:56:18.978Z,1761364578.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790909 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:18.998Z,1761364578.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:19.251Z,1761364579.251 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:19.277Z,1761364579.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862626,0.494519,-0.106431],[-0.502182,0.862479,-0.062787],[0.060746,0.107609,0.992336]]
2025-10-25T03:56:19.304Z,1761364579.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:19.308Z,1761364579.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 345.429291 m,
      bearing: 331.553508 deg,
      approach rate: -0.543640 m/s,
      LOS rate: 0.002129 deg/s,
      cmd heading: 331.794635 deg,
      new cmd heading: 331.796736 deg.

2025-10-25T03:56:19.310Z,1761364579.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790946 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:19.502Z,1761364579.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:19.718Z,1761364579.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:19.734Z,1761364579.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 345.200104 m,
      bearing: 331.554406 deg,
      approach rate: -0.552398 m/s,
      LOS rate: 0.002166 deg/s,
      cmd heading: 331.796738 deg,
      new cmd heading: 331.799435 deg.

2025-10-25T03:56:19.741Z,1761364579.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790993 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:19.755Z,1761364579.755 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:20.005Z,1761364580.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:20.136Z,1761364580.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:20.139Z,1761364580.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 344.983185 m,
      bearing: 331.553164 deg,
      approach rate: -0.520123 m/s,
      LOS rate: -0.002979 deg/s,
      cmd heading: 331.799443 deg,
      new cmd heading: 331.795716 deg.

2025-10-25T03:56:20.140Z,1761364580.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790928 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:20.258Z,1761364580.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:20.486Z,1761364580.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871164,0.478467,-0.110194],[-0.487169,0.870283,-0.072623],[0.061153,0.116950,0.991253]]
2025-10-25T03:56:20.506Z,1761364580.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:20.509Z,1761364580.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:20.510Z,1761364580.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 344.791077 m,
      bearing: 331.551528 deg,
      approach rate: -0.518547 m/s,
      LOS rate: -0.004420 deg/s,
      cmd heading: 331.795727 deg,
      new cmd heading: 331.790815 deg.

2025-10-25T03:56:20.511Z,1761364580.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790842 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:20.762Z,1761364580.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:20.858Z,1761364580.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:56:20.951Z,1761364580.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873680,0.473762,-0.110601],[-0.482612,0.872690,-0.074150],[0.061391,0.118160,0.991095]]
2025-10-25T03:56:20.995Z,1761364580.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:20.998Z,1761364580.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:21.002Z,1761364581.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 344.539856 m,
      bearing: 331.547457 deg,
      approach rate: -0.510914 m/s,
      LOS rate: -0.008284 deg/s,
      cmd heading: 331.790810 deg,
      new cmd heading: 331.778589 deg.

2025-10-25T03:56:21.003Z,1761364581.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790629 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:21.013Z,1761364581.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:21.267Z,1761364581.267 [DAT](INFO): DAT read: Rx Time:03:56:20.1308

2025-10-25T03:56:21.267Z,1761364581.267 [DAT](INFO): Rx dataTimestamp_ set to:1761364581.266739
2025-10-25T03:56:21.267Z,1761364581.267 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:21.315Z,1761364581.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875589,0.470199,-0.110712],[-0.479132,0.874515,-0.075210],[0.061455,0.118898,0.991003]]
2025-10-25T03:56:21.379Z,1761364581.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:21.386Z,1761364581.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 344.353119 m,
      bearing: 331.544303 deg,
      approach rate: -0.489129 m/s,
      LOS rate: -0.008266 deg/s,
      cmd heading: 331.778597 deg,
      new cmd heading: 331.769130 deg.

2025-10-25T03:56:21.387Z,1761364581.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790463 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:21.517Z,1761364581.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:21.697Z,1761364581.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877309,0.467282,-0.109433],[-0.475986,0.876342,-0.073909],[0.061364,0.116930,0.991243]]
2025-10-25T03:56:21.727Z,1761364581.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.99 m.
2025-10-25T03:56:21.730Z,1761364581.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.993164 m,
      nav range: 344.167328 m,
      bearing: 331.541049 deg,
      approach rate: -0.534220 m/s,
      LOS rate: -0.009362 deg/s,
      cmd heading: 331.769117 deg,
      new cmd heading: 331.759350 deg.

2025-10-25T03:56:21.731Z,1761364581.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790293 target range: 343.993164 and range: 345.00 m.
2025-10-25T03:56:21.779Z,1761364581.779 [DAT](INFO): DAT read: 03:56:20.1308 LVL= 25456, 27569, 22514, 32755, AGC= 67, IDX= 401, 0.38,-1.069,-2.462,-1.206,-1.722, PHS= 0.742,-0.693, 0.513, RAW= 141.5,  -8.5, CAL= 148.0, -18.0, ROT=   2.0,  18.0

2025-10-25T03:56:21.781Z,1761364581.781 [DAT](INFO): got valid direction response:
 03:56:20.1308 LVL= 25456, 27569, 22514, 32755, AGC= 67, IDX= 401, 0.38,-1.069,-2.462,-1.206,-1.722, PHS= 0.742,-0.693, 0.513, RAW= 141.5,  -8.5, CAL= 148.0, -18.0, ROT=   2.0,  18.0

2025-10-25T03:56:21.783Z,1761364581.783 [DAT](INFO): DAT read: Bearing   2.0,  18.0 (Local)

2025-10-25T03:56:21.783Z,1761364581.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  18.0 (Local)

2025-10-25T03:56:21.787Z,1761364581.787 [DAT](INFO): DAT read: Range 10 to 50 : 342.6 m  (Round-trip  456.8 ms) speed  0.3 m/s

2025-10-25T03:56:21.798Z,1761364581.798 [DAT](INFO): DAT read: user:198>Tx time:03:56:21.2199

2025-10-25T03:56:21.799Z,1761364581.799 [DAT](INFO): DAT read: TxSync time:03:56:21.2191

2025-10-25T03:56:21.800Z,1761364581.800 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:21.801Z,1761364581.801 [DAT](INFO): direction in FSK: [0.950477,0.033191,-0.309017]
2025-10-25T03:56:21.801Z,1761364581.801 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:21.829Z,1761364581.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:21.830Z,1761364581.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:21.862Z,1761364581.862 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:56:22.021Z,1761364582.021 [DAT](INFO): DAT read: 

2025-10-25T03:56:22.022Z,1761364582.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:22.102Z,1761364582.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878274,0.465640,-0.108693],[-0.474219,0.877353,-0.073271],[0.061244,0.115897,0.991371]]
2025-10-25T03:56:22.110Z,1761364582.110 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102419574539,35.0, +120,1499.5,  0
2025-10-25T03:56:22.174Z,1761364582.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.600006 m,
      deltaT: 4.032086 s,
      deltaX: -2.399994 m,
      approachRate: -0.595224 m/s,
      rangeRepo size: 4

2025-10-25T03:56:22.181Z,1761364582.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 341.605835 m,
      bearing: 335.704837 deg,
      lat: 36.779453 deg,
      lon: -121.859834 deg,
      deltaT: 4.032086 s,
      deltaX: -2.387329 m,
      approachRate: -0.592083 m/s,
      posRepo size: 4

2025-10-25T03:56:22.181Z,1761364582.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:22.189Z,1761364582.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 343.550751 m,
      bearing: 331.500818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009362 deg/s,
      cmd heading: 331.759336 deg,
      new cmd heading: 331.746794 deg.

2025-10-25T03:56:22.190Z,1761364582.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790074 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:22.273Z,1761364582.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:22.510Z,1761364582.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878216,0.464205,-0.115113],[-0.474173,0.876522,-0.082878],[0.062427,0.127368,0.989889]]
2025-10-25T03:56:22.525Z,1761364582.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:22.540Z,1761364582.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:22.543Z,1761364582.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 343.351379 m,
      bearing: 331.497227 deg,
      approach rate: -0.544998 m/s,
      LOS rate: -0.009824 deg/s,
      cmd heading: 331.746796 deg,
      new cmd heading: 331.736015 deg.

2025-10-25T03:56:22.543Z,1761364582.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789886 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:22.777Z,1761364582.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:22.966Z,1761364582.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877001,0.467256,-0.111985],[-0.476440,0.875855,-0.076706],[0.062241,0.120625,0.990745]]
2025-10-25T03:56:23.021Z,1761364583.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:23.023Z,1761364583.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:23.026Z,1761364583.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 343.085327 m,
      bearing: 331.495367 deg,
      approach rate: -0.550050 m/s,
      LOS rate: -0.003847 deg/s,
      cmd heading: 331.736004 deg,
      new cmd heading: 331.730422 deg.

2025-10-25T03:56:23.027Z,1761364583.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789788 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:23.029Z,1761364583.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:23.282Z,1761364583.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:23.439Z,1761364583.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875797,0.470886,-0.106050],[-0.478753,0.875416,-0.066656],[0.061450,0.109149,0.992124]]
2025-10-25T03:56:23.478Z,1761364583.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:23.485Z,1761364583.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 342.845093 m,
      bearing: 331.493839 deg,
      approach rate: -0.528437 m/s,
      LOS rate: -0.003363 deg/s,
      cmd heading: 331.730431 deg,
      new cmd heading: 331.725844 deg.

2025-10-25T03:56:23.486Z,1761364583.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789708 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:23.534Z,1761364583.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:23.785Z,1761364583.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:23.905Z,1761364583.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875398,0.471973,-0.104499],[-0.479499,0.875214,-0.063882],[0.061308,0.106029,0.992471]]
2025-10-25T03:56:23.990Z,1761364583.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:23.992Z,1761364583.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 342.563232 m,
      bearing: 331.492100 deg,
      approach rate: -0.551936 m/s,
      LOS rate: -0.003409 deg/s,
      cmd heading: 331.725841 deg,
      new cmd heading: 331.720618 deg.

2025-10-25T03:56:24.001Z,1761364584.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789617 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:24.037Z,1761364584.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:24.290Z,1761364584.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:24.323Z,1761364584.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874985,0.472769,-0.104361],[-0.480181,0.874956,-0.062277],[0.061868,0.104604,0.992588]]
2025-10-25T03:56:24.376Z,1761364584.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:24.378Z,1761364584.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 342.322266 m,
      bearing: 331.493838 deg,
      approach rate: -0.622777 m/s,
      LOS rate: 0.004495 deg/s,
      cmd heading: 331.720623 deg,
      new cmd heading: 331.725841 deg.

2025-10-25T03:56:24.379Z,1761364584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789708 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:24.541Z,1761364584.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:24.705Z,1761364584.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874147,0.474210,-0.104847],[-0.481603,0.874253,-0.061162],[0.062659,0.103959,0.992606]]
2025-10-25T03:56:24.731Z,1761364584.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:24.735Z,1761364584.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 342.111115 m,
      bearing: 331.495424 deg,
      approach rate: -0.593884 m/s,
      LOS rate: 0.004464 deg/s,
      cmd heading: 331.725841 deg,
      new cmd heading: 331.730602 deg.

2025-10-25T03:56:24.737Z,1761364584.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789791 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:24.794Z,1761364584.794 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:25.046Z,1761364585.046 [DAT](INFO): DAT read: Rx Time:03:56:24.0778

2025-10-25T03:56:25.047Z,1761364585.047 [DAT](INFO): Rx dataTimestamp_ set to:1761364585.046624
2025-10-25T03:56:25.047Z,1761364585.047 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:25.124Z,1761364585.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873393,0.475830,-0.103783],[-0.482821,0.873891,-0.056549],[0.063787,0.099498,0.992991]]
2025-10-25T03:56:25.177Z,1761364585.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:25.179Z,1761364585.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.61 m.
2025-10-25T03:56:25.184Z,1761364585.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.605835 m,
      nav range: 341.825531 m,
      bearing: 331.500929 deg,
      approach rate: -0.637608 m/s,
      LOS rate: 0.012300 deg/s,
      cmd heading: 331.730595 deg,
      new cmd heading: 331.747123 deg.

2025-10-25T03:56:25.185Z,1761364585.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790080 target range: 341.605835 and range: 342.60 m.
2025-10-25T03:56:25.298Z,1761364585.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:25.562Z,1761364585.562 [DAT](INFO): DAT read: 03:56:24.0778 LVL= 18672, 28945, 17634, 30083, AGC= 67, IDX= 402, 0.48, 0.475,-0.860, 0.410,-0.164, PHS= 0.727,-0.649, 0.572, RAW= 144.1, -10.0, CAL= 151.0, -19.0, ROT= 359.0,  19.0

2025-10-25T03:56:25.564Z,1761364585.564 [DAT](INFO): got valid direction response:
 03:56:24.0778 LVL= 18672, 28945, 17634, 30083, AGC= 67, IDX= 402, 0.48, 0.475,-0.860, 0.410,-0.164, PHS= 0.727,-0.649, 0.572, RAW= 144.1, -10.0, CAL= 151.0, -19.0, ROT= 359.0,  19.0

2025-10-25T03:56:25.569Z,1761364585.569 [DAT](INFO): DAT read: Bearing 359.0,  19.0 (Local)

2025-10-25T03:56:25.569Z,1761364585.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  19.0 (Local)

2025-10-25T03:56:25.571Z,1761364585.571 [DAT](INFO): DAT read: Range 10 to 50 : 340.3 m  (Round-trip  453.8 ms) speed  0.5 m/s

2025-10-25T03:56:25.572Z,1761364585.572 [DAT](INFO): DAT read: user:199>Tx time:03:56:25.1699

2025-10-25T03:56:25.572Z,1761364585.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:25.568Z,1761364585.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872281,0.477907,-0.103587],[-0.484673,0.873067,-0.053354],[0.064941,0.096745,0.993188]]
2025-10-25T03:56:25.577Z,1761364585.577 [DAT](INFO): direction in FSK: [0.945375,-0.016502,-0.325568]
2025-10-25T03:56:25.578Z,1761364585.578 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:25.585Z,1761364585.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:25.585Z,1761364585.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:25.647Z,1761364585.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.299988 m,
      deltaT: 3.782007 s,
      deltaX: -2.300018 m,
      approachRate: -0.608148 m/s,
      rangeRepo size: 4

2025-10-25T03:56:25.669Z,1761364585.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 339.314728 m,
      bearing: 331.841040 deg,
      lat: 36.779453 deg,
      lon: -121.859739 deg,
      deltaT: 3.782007 s,
      deltaX: -2.291107 m,
      approachRate: -0.605791 m/s,
      posRepo size: 4

2025-10-25T03:56:25.670Z,1761364585.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:25.673Z,1761364585.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 337.592468 m,
      bearing: 332.771464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012300 deg/s,
      cmd heading: 331.747124 deg,
      new cmd heading: 331.764147 deg.

2025-10-25T03:56:25.674Z,1761364585.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790377 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:25.801Z,1761364585.801 [DAT](INFO): DAT read: 

2025-10-25T03:56:25.802Z,1761364585.802 [DAT](INFO): DAT read: TxSync time:03:56:25.1691

2025-10-25T03:56:25.803Z,1761364585.803 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:26.013Z,1761364586.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871172,0.479526,-0.105426],[-0.486441,0.872112,-0.052870],[0.066591,0.097342,0.993021]]
2025-10-25T03:56:26.053Z,1761364586.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:26.126Z,1761364586.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:26.128Z,1761364586.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 337.258057 m,
      bearing: 332.782181 deg,
      approach rate: -0.689136 m/s,
      LOS rate: 0.022107 deg/s,
      cmd heading: 331.764145 deg,
      new cmd heading: 331.796327 deg.

2025-10-25T03:56:26.138Z,1761364586.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790938 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:26.306Z,1761364586.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:26.427Z,1761364586.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870432,0.481478,-0.102604],[-0.487486,0.872053,-0.043362],[0.068598,0.087762,0.993777]]
2025-10-25T03:56:26.502Z,1761364586.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:26.512Z,1761364586.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 337.014038 m,
      bearing: 332.790101 deg,
      approach rate: -0.657427 m/s,
      LOS rate: 0.021352 deg/s,
      cmd heading: 331.796328 deg,
      new cmd heading: 331.820105 deg.

2025-10-25T03:56:26.558Z,1761364586.558 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:26.569Z,1761364586.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791353 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:26.810Z,1761364586.810 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:26.856Z,1761364586.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871288,0.479191,-0.105991],[-0.485790,0.872785,-0.047478],[0.069756,0.092857,0.993233]]
2025-10-25T03:56:26.930Z,1761364586.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:26.934Z,1761364586.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 336.712036 m,
      bearing: 332.799795 deg,
      approach rate: -0.705549 m/s,
      LOS rate: 0.022669 deg/s,
      cmd heading: 331.820098 deg,
      new cmd heading: 331.849208 deg.

2025-10-25T03:56:26.935Z,1761364586.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791861 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:27.061Z,1761364587.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:27.314Z,1761364587.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:27.336Z,1761364587.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:27.342Z,1761364587.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:27.350Z,1761364587.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 336.441254 m,
      bearing: 332.809500 deg,
      approach rate: -0.649215 m/s,
      LOS rate: 0.023286 deg/s,
      cmd heading: 331.849194 deg,
      new cmd heading: 331.878331 deg.

2025-10-25T03:56:27.354Z,1761364587.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792369 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:27.567Z,1761364587.567 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:27.662Z,1761364587.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871483,0.477375,-0.112384],[-0.485071,0.872800,-0.054089],[0.072268,0.101652,0.992192]]
2025-10-25T03:56:27.697Z,1761364587.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:27.701Z,1761364587.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 336.179810 m,
      bearing: 332.818835 deg,
      approach rate: -0.737563 m/s,
      LOS rate: 0.026357 deg/s,
      cmd heading: 331.878318 deg,
      new cmd heading: 331.906347 deg.

2025-10-25T03:56:27.702Z,1761364587.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792859 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:27.818Z,1761364587.818 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:28.069Z,1761364588.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:28.133Z,1761364588.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:28.136Z,1761364588.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 335.879425 m,
      bearing: 332.829407 deg,
      approach rate: -0.689488 m/s,
      LOS rate: 0.024288 deg/s,
      cmd heading: 331.906349 deg,
      new cmd heading: 331.938093 deg.

2025-10-25T03:56:28.137Z,1761364588.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793413 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:28.321Z,1761364588.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:28.483Z,1761364588.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869942,0.479200,-0.116477],[-0.487466,0.871347,-0.055952],[0.074680,0.105454,0.991616]]
2025-10-25T03:56:28.512Z,1761364588.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:28.515Z,1761364588.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 335.617340 m,
      bearing: 332.838779 deg,
      approach rate: -0.690197 m/s,
      LOS rate: 0.024701 deg/s,
      cmd heading: 331.938096 deg,
      new cmd heading: 331.966234 deg.

2025-10-25T03:56:28.516Z,1761364588.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793904 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:28.573Z,1761364588.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:28.825Z,1761364588.825 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:28.911Z,1761364588.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869213,0.480056,-0.118390],[-0.488473,0.870828,-0.055253],[0.076572,0.105857,0.991429]]
2025-10-25T03:56:28.946Z,1761364588.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:28.950Z,1761364588.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 335.320923 m,
      bearing: 332.849464 deg,
      approach rate: -0.683074 m/s,
      LOS rate: 0.024645 deg/s,
      cmd heading: 331.966236 deg,
      new cmd heading: 331.998320 deg.

2025-10-25T03:56:28.951Z,1761364588.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794464 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:29.078Z,1761364589.078 [DAT](INFO): DAT read: Rx Time:03:56:28.0246

2025-10-25T03:56:29.078Z,1761364589.078 [DAT](INFO): Rx dataTimestamp_ set to:1761364589.078206
2025-10-25T03:56:29.079Z,1761364589.079 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:29.330Z,1761364589.330 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:29.364Z,1761364589.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867675,0.481780,-0.122587],[-0.490423,0.869908,-0.052400],[0.081394,0.105586,0.991073]]
2025-10-25T03:56:29.426Z,1761364589.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:29.428Z,1761364589.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 339.31 m.
2025-10-25T03:56:29.431Z,1761364589.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 339.314728 m,
      nav range: 334.998779 m,
      bearing: 332.859665 deg,
      approach rate: -0.667647 m/s,
      LOS rate: 0.021161 deg/s,
      cmd heading: 331.998311 deg,
      new cmd heading: 332.028941 deg.

2025-10-25T03:56:29.432Z,1761364589.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794998 target range: 339.314728 and range: 340.30 m.
2025-10-25T03:56:29.587Z,1761364589.587 [DAT](INFO): DAT read: 03:56:28.0246 LVL= 26864, 26449, 23858, 32755, AGC= 65, IDX= 401,-0.11,-2.202, 2.858,-2.251,-2.770, PHS= 0.656,-0.608, 0.516, RAW= 144.2,  -9.4, CAL= 150.9, -18.5, ROT= 359.1,  18.5

2025-10-25T03:56:29.589Z,1761364589.589 [DAT](INFO): got valid direction response:
 03:56:28.0246 LVL= 26864, 26449, 23858, 32755, AGC= 65, IDX= 401,-0.11,-2.202, 2.858,-2.251,-2.770, PHS= 0.656,-0.608, 0.516, RAW= 144.2,  -9.4, CAL= 150.9, -18.5, ROT= 359.1,  18.5

2025-10-25T03:56:29.590Z,1761364589.590 [DAT](INFO): DAT read: Bearing 359.1,  18.5 (Local)

2025-10-25T03:56:29.590Z,1761364589.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  18.5 (Local)

2025-10-25T03:56:29.592Z,1761364589.592 [DAT](INFO): DAT read: Range 10 to 50 : 337.8 m  (Round-trip  450.4 ms) speed  0.7 m/s

2025-10-25T03:56:29.595Z,1761364589.595 [DAT](INFO): DAT read: user:200>Tx time:03:56:29.1200

2025-10-25T03:56:29.597Z,1761364589.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:29.599Z,1761364589.599 [DAT](INFO): direction in FSK: [0.948207,-0.014895,-0.317305]
2025-10-25T03:56:29.600Z,1761364589.600 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:29.608Z,1761364589.608 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:29.621Z,1761364589.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:29.837Z,1761364589.837 [DAT](INFO): DAT read: 

2025-10-25T03:56:29.837Z,1761364589.837 [DAT](INFO): DAT read: TxSync time:03:56:29.1192

2025-10-25T03:56:29.838Z,1761364589.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:29.915Z,1761364589.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867293,0.481837,-0.125042],[-0.490645,0.869852,-0.051234],[0.084081,0.105786,0.990828]]
2025-10-25T03:56:29.970Z,1761364589.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.799988 m,
      deltaT: 4.030011 s,
      deltaX: -2.500000 m,
      approachRate: -0.620346 m/s,
      rangeRepo size: 4

2025-10-25T03:56:29.972Z,1761364589.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 336.825165 m,
      bearing: 331.615283 deg,
      lat: 36.779364 deg,
      lon: -121.859739 deg,
      deltaT: 4.030011 s,
      deltaX: -2.489563 m,
      approachRate: -0.617756 m/s,
      posRepo size: 4

2025-10-25T03:56:29.977Z,1761364589.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:29.980Z,1761364589.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 325.883759 m,
      bearing: 332.077095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021161 deg/s,
      cmd heading: 332.028937 deg,
      new cmd heading: 332.063231 deg.

2025-10-25T03:56:29.986Z,1761364589.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795597 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:30.085Z,1761364590.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:30.337Z,1761364590.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:30.454Z,1761364590.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865921,0.483307,-0.128819],[-0.492396,0.868949,-0.049738],[0.087899,0.106499,0.990420]]
2025-10-25T03:56:30.492Z,1761364590.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:30.495Z,1761364590.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 325.524994 m,
      bearing: 332.085323 deg,
      approach rate: -0.684895 m/s,
      LOS rate: 0.015725 deg/s,
      cmd heading: 332.063225 deg,
      new cmd heading: 332.087937 deg.

2025-10-25T03:56:30.496Z,1761364590.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796028 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:30.590Z,1761364590.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:30.841Z,1761364590.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:30.855Z,1761364590.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865735,0.482689,-0.132342],[-0.491981,0.869293,-0.047803],[0.091970,0.106495,0.990051]]
2025-10-25T03:56:30.891Z,1761364590.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:30.894Z,1761364590.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 325.279541 m,
      bearing: 332.090954 deg,
      approach rate: -0.615947 m/s,
      LOS rate: 0.014142 deg/s,
      cmd heading: 332.087950 deg,
      new cmd heading: 332.104857 deg.

2025-10-25T03:56:30.895Z,1761364590.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796323 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:31.097Z,1761364591.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:31.256Z,1761364591.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865246,0.482596,-0.135831],[-0.492184,0.869225,-0.046936],[0.095417,0.107465,0.989620]]
2025-10-25T03:56:31.320Z,1761364591.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:31.336Z,1761364591.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 325.021576 m,
      bearing: 332.094264 deg,
      approach rate: -0.601299 m/s,
      LOS rate: 0.007721 deg/s,
      cmd heading: 332.104862 deg,
      new cmd heading: 332.114799 deg.

2025-10-25T03:56:31.341Z,1761364591.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796497 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:31.345Z,1761364591.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:31.598Z,1761364591.598 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:31.661Z,1761364591.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866473,0.479714,-0.138199],[-0.489616,0.870636,-0.047634],[0.097470,0.108938,0.989258]]
2025-10-25T03:56:31.679Z,1761364591.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:31.681Z,1761364591.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:31.685Z,1761364591.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 324.790100 m,
      bearing: 332.097125 deg,
      approach rate: -0.641317 m/s,
      LOS rate: 0.007934 deg/s,
      cmd heading: 332.114807 deg,
      new cmd heading: 332.123397 deg.

2025-10-25T03:56:31.686Z,1761364591.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796647 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:31.850Z,1761364591.850 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:32.101Z,1761364592.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:32.104Z,1761364592.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867026,0.477988,-0.140688],[-0.488183,0.871427,-0.047877],[0.099715,0.110192,0.988896]]
2025-10-25T03:56:32.185Z,1761364592.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:32.187Z,1761364592.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 324.500275 m,
      bearing: 332.097075 deg,
      approach rate: -0.575383 m/s,
      LOS rate: -0.000100 deg/s,
      cmd heading: 332.123385 deg,
      new cmd heading: 332.123234 deg.

2025-10-25T03:56:32.188Z,1761364592.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796644 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:32.353Z,1761364592.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:32.466Z,1761364592.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868133,0.475281,-0.143013],[-0.485802,0.872715,-0.048639],[0.101692,0.111701,0.988525]]
2025-10-25T03:56:32.488Z,1761364592.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:32.491Z,1761364592.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 324.324280 m,
      bearing: 332.096965 deg,
      approach rate: -0.580230 m/s,
      LOS rate: -0.000363 deg/s,
      cmd heading: 332.123221 deg,
      new cmd heading: 332.122891 deg.

2025-10-25T03:56:32.491Z,1761364592.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796638 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:32.605Z,1761364592.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:32.857Z,1761364592.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:32.876Z,1761364592.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868630,0.473771,-0.144991],[-0.484382,0.873570,-0.047430],[0.104189,0.111430,0.988295]]
2025-10-25T03:56:32.926Z,1761364592.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:32.934Z,1761364592.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 324.084595 m,
      bearing: 332.096751 deg,
      approach rate: -0.546869 m/s,
      LOS rate: -0.000489 deg/s,
      cmd heading: 332.122893 deg,
      new cmd heading: 332.122251 deg.

2025-10-25T03:56:32.935Z,1761364592.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796627 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:33.113Z,1761364593.113 [DAT](INFO): DAT read: Rx Time:03:56:31.9711

2025-10-25T03:56:33.115Z,1761364593.115 [DAT](INFO): Rx dataTimestamp_ set to:1761364593.113975
2025-10-25T03:56:33.117Z,1761364593.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:33.287Z,1761364593.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869483,0.471479,-0.147330],[-0.482334,0.874707,-0.047341],[0.106550,0.112224,0.987954]]
2025-10-25T03:56:33.354Z,1761364593.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.83 m.
2025-10-25T03:56:33.356Z,1761364593.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.825165 m,
      nav range: 323.837158 m,
      bearing: 332.094739 deg,
      approach rate: -0.578737 m/s,
      LOS rate: -0.004710 deg/s,
      cmd heading: 332.122238 deg,
      new cmd heading: 332.116197 deg.

2025-10-25T03:56:33.361Z,1761364593.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:33.377Z,1761364593.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796521 target range: 336.825165 and range: 337.80 m.
2025-10-25T03:56:33.621Z,1761364593.621 [DAT](INFO): DAT read: 03:56:31.9711 LVL= 21712, 26865, 18034, 32755, AGC= 64, IDX= 414, 0.06, 0.908,-0.405, 0.904, 0.135, PHS= 0.861,-0.493, 0.766, RAW= 146.4, -17.0, CAL= 152.4, -24.7, ROT= 357.6,  24.7

2025-10-25T03:56:33.622Z,1761364593.622 [DAT](INFO): got valid direction response:
 03:56:31.9711 LVL= 21712, 26865, 18034, 32755, AGC= 64, IDX= 414, 0.06, 0.908,-0.405, 0.904, 0.135, PHS= 0.861,-0.493, 0.766, RAW= 146.4, -17.0, CAL= 152.4, -24.7, ROT= 357.6,  24.7

2025-10-25T03:56:33.623Z,1761364593.623 [DAT](INFO): DAT read: Bearing 357.6,  24.7 (Local)

2025-10-25T03:56:33.624Z,1761364593.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  24.7 (Local)

2025-10-25T03:56:33.630Z,1761364593.630 [DAT](INFO): DAT read: Range 10 to 50 : 335.2 m  (Round-trip  447.0 ms) speed  0.4 m/s

2025-10-25T03:56:33.631Z,1761364593.631 [DAT](INFO): DAT read: user:201>Tx time:03:56:33.0700

2025-10-25T03:56:33.631Z,1761364593.631 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:33.633Z,1761364593.633 [DAT](INFO): direction in FSK: [0.907711,-0.038044,-0.417867]
2025-10-25T03:56:33.634Z,1761364593.634 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:33.642Z,1761364593.642 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:33.642Z,1761364593.642 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:33.754Z,1761364593.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870528,0.468415,-0.150893],[-0.479415,0.876426,-0.045146],[0.111100,0.111642,0.987519]]
2025-10-25T03:56:33.810Z,1761364593.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.200012 m,
      deltaT: 4.033084 s,
      deltaX: -2.599976 m,
      approachRate: -0.644662 m/s,
      rangeRepo size: 4

2025-10-25T03:56:33.812Z,1761364593.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 334.234161 m,
      bearing: 331.709560 deg,
      lat: 36.779364 deg,
      lon: -121.859726 deg,
      deltaT: 4.033084 s,
      deltaX: -2.591003 m,
      approachRate: -0.642437 m/s,
      posRepo size: 4

2025-10-25T03:56:33.812Z,1761364593.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:33.819Z,1761364593.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 323.048645 m,
      bearing: 332.276752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004710 deg/s,
      cmd heading: 332.116200 deg,
      new cmd heading: 332.109826 deg.

2025-10-25T03:56:33.820Z,1761364593.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796410 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:33.867Z,1761364593.867 [DAT](INFO): DAT read: TxSync time:03:56:33.0692

2025-10-25T03:56:33.868Z,1761364593.868 [DAT](INFO): DAT read: 

2025-10-25T03:56:33.868Z,1761364593.868 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:34.120Z,1761364594.120 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:34.203Z,1761364594.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:34.205Z,1761364594.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:34.208Z,1761364594.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 322.825867 m,
      bearing: 332.274858 deg,
      approach rate: -0.556754 m/s,
      LOS rate: -0.004738 deg/s,
      cmd heading: 332.109834 deg,
      new cmd heading: 332.104147 deg.

2025-10-25T03:56:34.209Z,1761364594.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796311 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:34.369Z,1761364594.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:34.534Z,1761364594.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868111,0.470714,-0.157519],[-0.482433,0.874796,-0.044607],[0.116800,0.114716,0.986508]]
2025-10-25T03:56:34.552Z,1761364594.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:34.554Z,1761364594.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 322.638763 m,
      bearing: 332.273391 deg,
      approach rate: -0.539585 m/s,
      LOS rate: -0.004233 deg/s,
      cmd heading: 332.104151 deg,
      new cmd heading: 332.099748 deg.

2025-10-25T03:56:34.555Z,1761364594.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796234 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:34.623Z,1761364594.623 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:34.874Z,1761364594.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:34.943Z,1761364594.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866452,0.473521,-0.158240],[-0.484678,0.873821,-0.039045],[0.119785,0.110526,0.986628]]
2025-10-25T03:56:34.962Z,1761364594.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:34.966Z,1761364594.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 322.418427 m,
      bearing: 332.271770 deg,
      approach rate: -0.536516 m/s,
      LOS rate: -0.003950 deg/s,
      cmd heading: 332.099753 deg,
      new cmd heading: 332.094886 deg.

2025-10-25T03:56:34.967Z,1761364594.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796149 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:35.128Z,1761364595.128 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:35.342Z,1761364595.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866799,0.473032,-0.157797],[-0.483722,0.874495,-0.035649],[0.121130,0.107230,0.986828]]
2025-10-25T03:56:35.377Z,1761364595.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:35.394Z,1761364595.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:35.397Z,1761364595.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 322.181427 m,
      bearing: 332.270120 deg,
      approach rate: -0.548837 m/s,
      LOS rate: -0.003823 deg/s,
      cmd heading: 332.094890 deg,
      new cmd heading: 332.089937 deg.

2025-10-25T03:56:35.398Z,1761364595.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796063 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:35.630Z,1761364595.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:35.744Z,1761364595.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867262,0.472063,-0.158156],[-0.482488,0.875271,-0.033256],[0.122730,0.105150,0.986854]]
2025-10-25T03:56:35.779Z,1761364595.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:35.783Z,1761364595.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 321.977783 m,
      bearing: 332.268655 deg,
      approach rate: -0.529124 m/s,
      LOS rate: -0.003808 deg/s,
      cmd heading: 332.089945 deg,
      new cmd heading: 332.085548 deg.

2025-10-25T03:56:35.784Z,1761364595.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795986 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:35.882Z,1761364595.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:36.136Z,1761364596.136 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:36.173Z,1761364596.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867622,0.470968,-0.159440],[-0.481442,0.875870,-0.032637],[0.124278,0.105078,0.986668]]
2025-10-25T03:56:36.219Z,1761364596.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:36.222Z,1761364596.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:36.225Z,1761364596.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 321.715271 m,
      bearing: 332.268539 deg,
      approach rate: -0.591981 m/s,
      LOS rate: -0.000264 deg/s,
      cmd heading: 332.085546 deg,
      new cmd heading: 332.085195 deg.

2025-10-25T03:56:36.226Z,1761364596.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795980 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:36.385Z,1761364596.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:36.559Z,1761364596.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868039,0.469841,-0.160491],[-0.480130,0.876671,-0.030380],[0.126424,0.103428,0.986570]]
2025-10-25T03:56:36.593Z,1761364596.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:36.596Z,1761364596.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 321.509125 m,
      bearing: 332.268400 deg,
      approach rate: -0.555598 m/s,
      LOS rate: -0.000374 deg/s,
      cmd heading: 332.085191 deg,
      new cmd heading: 332.084774 deg.

2025-10-25T03:56:36.603Z,1761364596.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795973 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:36.638Z,1761364596.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:36.890Z,1761364596.890 [DAT](INFO): DAT read: Rx Time:03:56:35.9182

2025-10-25T03:56:36.890Z,1761364596.890 [DAT](INFO): Rx dataTimestamp_ set to:1761364596.889812
2025-10-25T03:56:36.890Z,1761364596.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:36.967Z,1761364596.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868225,0.469190,-0.161389],[-0.479310,0.877186,-0.028392],[0.128247,0.102007,0.986482]]
2025-10-25T03:56:36.991Z,1761364596.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 334.23 m.
2025-10-25T03:56:36.993Z,1761364596.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 334.234161 m,
      nav range: 321.272461 m,
      bearing: 332.268209 deg,
      approach rate: -0.595733 m/s,
      LOS rate: -0.000480 deg/s,
      cmd heading: 332.084781 deg,
      new cmd heading: 332.084209 deg.

2025-10-25T03:56:36.994Z,1761364596.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795963 target range: 334.234161 and range: 335.20 m.
2025-10-25T03:56:37.145Z,1761364597.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:37.405Z,1761364597.405 [DAT](INFO): DAT read: 03:56:35.9182 LVL= 25072, 28865, 23314, 32755, AGC= 68, IDX= 416,-0.20, 0.163,-1.228, 0.112,-0.597, PHS= 0.847,-0.585, 0.706, RAW= 144.9, -14.1, CAL= 151.5, -22.4, ROT= 358.5,  22.4

2025-10-25T03:56:37.408Z,1761364597.408 [DAT](INFO): got valid direction response:
 03:56:35.9182 LVL= 25072, 28865, 23314, 32755, AGC= 68, IDX= 416,-0.20, 0.163,-1.228, 0.112,-0.597, PHS= 0.847,-0.585, 0.706, RAW= 144.9, -14.1, CAL= 151.5, -22.4, ROT= 358.5,  22.4

2025-10-25T03:56:37.409Z,1761364597.409 [DAT](INFO): DAT read: Bearing 358.5,  22.4 (Local)

2025-10-25T03:56:37.409Z,1761364597.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  22.4 (Local)

2025-10-25T03:56:37.411Z,1761364597.411 [DAT](INFO): DAT read: Range 10 to 50 : 333.0 m  (Round-trip  444.1 ms) speed  0.4 m/s

2025-10-25T03:56:37.412Z,1761364597.412 [DAT](INFO): DAT read: user:202>Tx time:03:56:37.0200

2025-10-25T03:56:37.412Z,1761364597.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:37.413Z,1761364597.413 [DAT](INFO): direction in FSK: [0.924229,-0.024202,-0.381070]
2025-10-25T03:56:37.414Z,1761364597.414 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:37.419Z,1761364597.419 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:37.419Z,1761364597.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:37.428Z,1761364597.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868504,0.468116,-0.163001],[-0.478201,0.877838,-0.026928],[0.130482,0.101334,0.986258]]
2025-10-25T03:56:37.549Z,1761364597.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.000000 m,
      deltaT: 3.780462 s,
      deltaX: -2.200012 m,
      approachRate: -0.581943 m/s,
      rangeRepo size: 4

2025-10-25T03:56:37.552Z,1761364597.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 332.043091 m,
      bearing: 332.044679 deg,
      lat: 36.779358 deg,
      lon: -121.859738 deg,
      deltaT: 3.780462 s,
      deltaX: -2.191071 m,
      approachRate: -0.579577 m/s,
      posRepo size: 4

2025-10-25T03:56:37.559Z,1761364597.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:37.570Z,1761364597.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 320.828003 m,
      bearing: 332.045578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000480 deg/s,
      cmd heading: 332.084207 deg,
      new cmd heading: 332.083410 deg.

2025-10-25T03:56:37.571Z,1761364597.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795949 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:37.646Z,1761364597.646 [DAT](INFO): DAT read: 

2025-10-25T03:56:37.647Z,1761364597.647 [DAT](INFO): DAT read: TxSync time:03:56:37.0192

2025-10-25T03:56:37.648Z,1761364597.648 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:37.838Z,1761364597.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868082,0.468575,-0.163924],[-0.478603,0.877654,-0.025745],[0.131805,0.100804,0.986137]]
2025-10-25T03:56:37.871Z,1761364597.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:37.874Z,1761364597.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 320.614746 m,
      bearing: 332.046985 deg,
      approach rate: -0.651550 m/s,
      LOS rate: 0.004301 deg/s,
      cmd heading: 332.083415 deg,
      new cmd heading: 332.087638 deg.

2025-10-25T03:56:37.875Z,1761364597.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796023 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:37.898Z,1761364597.898 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:38.152Z,1761364598.152 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:38.241Z,1761364598.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867334,0.469876,-0.164159],[-0.479492,0.877261,-0.022392],[0.133489,0.098134,0.986180]]
2025-10-25T03:56:38.303Z,1761364598.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:38.308Z,1761364598.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:38.312Z,1761364598.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 320.342621 m,
      bearing: 332.051617 deg,
      approach rate: -0.623710 m/s,
      LOS rate: 0.010626 deg/s,
      cmd heading: 332.087650 deg,
      new cmd heading: 332.101558 deg.

2025-10-25T03:56:38.314Z,1761364598.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796266 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:38.402Z,1761364598.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:38.655Z,1761364598.655 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:38.658Z,1761364598.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866708,0.470185,-0.166562],[-0.479987,0.877001,-0.021954],[0.135753,0.098975,0.985786]]
2025-10-25T03:56:38.676Z,1761364598.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:38.679Z,1761364598.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 320.101257 m,
      bearing: 332.055762 deg,
      approach rate: -0.654526 m/s,
      LOS rate: 0.011251 deg/s,
      cmd heading: 332.101556 deg,
      new cmd heading: 332.114003 deg.

2025-10-25T03:56:38.681Z,1761364598.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796483 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:38.906Z,1761364598.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:39.052Z,1761364599.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865556,0.471293,-0.169400],[-0.481313,0.876289,-0.021333],[0.138389,0.099999,0.985317]]
2025-10-25T03:56:39.072Z,1761364599.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:39.075Z,1761364599.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 319.850098 m,
      bearing: 332.060159 deg,
      approach rate: -0.634097 m/s,
      LOS rate: 0.011107 deg/s,
      cmd heading: 332.114014 deg,
      new cmd heading: 332.127213 deg.

2025-10-25T03:56:39.076Z,1761364599.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796713 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:39.160Z,1761364599.160 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:39.409Z,1761364599.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:39.458Z,1761364599.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865193,0.471522,-0.170610],[-0.481578,0.876159,-0.020686],[0.139728,0.100059,0.985121]]
2025-10-25T03:56:39.519Z,1761364599.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:39.526Z,1761364599.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 319.559296 m,
      bearing: 332.067480 deg,
      approach rate: -0.650119 m/s,
      LOS rate: 0.016383 deg/s,
      cmd heading: 332.127210 deg,
      new cmd heading: 332.149195 deg.

2025-10-25T03:56:39.527Z,1761364599.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797097 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:39.661Z,1761364599.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:39.857Z,1761364599.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864515,0.472192,-0.172188],[-0.482267,0.875805,-0.019622],[0.141538,0.100004,0.984869]]
2025-10-25T03:56:39.894Z,1761364599.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:39.897Z,1761364599.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 319.306305 m,
      bearing: 332.073905 deg,
      approach rate: -0.675608 m/s,
      LOS rate: 0.017171 deg/s,
      cmd heading: 332.149203 deg,
      new cmd heading: 332.168493 deg.

2025-10-25T03:56:39.898Z,1761364599.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797434 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:39.913Z,1761364599.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:40.169Z,1761364600.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:40.337Z,1761364600.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:40.339Z,1761364600.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:40.342Z,1761364600.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 319.008362 m,
      bearing: 332.083237 deg,
      approach rate: -0.669428 m/s,
      LOS rate: 0.020987 deg/s,
      cmd heading: 332.168492 deg,
      new cmd heading: 332.196514 deg.

2025-10-25T03:56:40.343Z,1761364600.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797923 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:40.419Z,1761364600.419 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:40.663Z,1761364600.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863110,0.473848,-0.174670],[-0.483780,0.875030,-0.016738],[0.144910,0.098949,0.984485]]
2025-10-25T03:56:40.670Z,1761364600.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:40.694Z,1761364600.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:40.717Z,1761364600.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 318.770844 m,
      bearing: 332.090781 deg,
      approach rate: -0.669398 m/s,
      LOS rate: 0.021279 deg/s,
      cmd heading: 332.196523 deg,
      new cmd heading: 332.219174 deg.

2025-10-25T03:56:40.719Z,1761364600.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798318 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:40.925Z,1761364600.925 [DAT](INFO): DAT read: Rx Time:03:56:39.8651

2025-10-25T03:56:40.925Z,1761364600.925 [DAT](INFO): Rx dataTimestamp_ set to:1761364600.924808
2025-10-25T03:56:40.925Z,1761364600.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:41.069Z,1761364601.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862605,0.474001,-0.176737],[-0.484078,0.874874,-0.016279],[0.146906,0.099597,0.984124]]
2025-10-25T03:56:41.088Z,1761364601.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.04 m.
2025-10-25T03:56:41.091Z,1761364601.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.043091 m,
      nav range: 318.504150 m,
      bearing: 332.099292 deg,
      approach rate: -0.676177 m/s,
      LOS rate: 0.021596 deg/s,
      cmd heading: 332.219172 deg,
      new cmd heading: 332.244725 deg.

2025-10-25T03:56:41.093Z,1761364601.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798764 target range: 332.043091 and range: 333.00 m.
2025-10-25T03:56:41.175Z,1761364601.175 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:41.431Z,1761364601.431 [DAT](INFO): DAT read: 03:56:39.8651 LVL= 19648, 23137, 17010, 30707, AGC= 65, IDX= 415,-0.27, 0.768,-0.664, 0.718,-0.016, PHS= 0.871,-0.601, 0.731, RAW= 145.0, -14.1, CAL= 151.6, -22.4, ROT= 358.4,  22.4

2025-10-25T03:56:41.434Z,1761364601.434 [DAT](INFO): got valid direction response:
 03:56:39.8651 LVL= 19648, 23137, 17010, 30707, AGC= 65, IDX= 415,-0.27, 0.768,-0.664, 0.718,-0.016, PHS= 0.871,-0.601, 0.731, RAW= 145.0, -14.1, CAL= 151.6, -22.4, ROT= 358.4,  22.4

2025-10-25T03:56:41.435Z,1761364601.435 [DAT](INFO): DAT read: Bearing 358.4,  22.4 (Local)

2025-10-25T03:56:41.435Z,1761364601.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  22.4 (Local)

2025-10-25T03:56:41.437Z,1761364601.437 [DAT](INFO): DAT read: Range 10 to 50 : 330.6 m  (Round-trip  440.9 ms) speed  0.4 m/s

2025-10-25T03:56:41.438Z,1761364601.438 [DAT](INFO): DAT read: Tx time:03:56:40.9216

2025-10-25T03:56:41.439Z,1761364601.439 [DAT](INFO): Ping request sent.
2025-10-25T03:56:41.439Z,1761364601.439 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:56:41.439Z,1761364601.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:41.440Z,1761364601.440 [DAT](INFO): direction in FSK: [0.924186,-0.025815,-0.381070]
2025-10-25T03:56:41.440Z,1761364601.440 [DAT](INFO): publishing transmit ping time
2025-10-25T03:56:41.441Z,1761364601.441 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:41.444Z,1761364601.444 [DAT](INFO): publishing transmit ping time
2025-10-25T03:56:41.444Z,1761364601.444 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:41.637Z,1761364601.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.600006 m,
      deltaT: 4.030166 s,
      deltaX: -2.399994 m,
      approachRate: -0.595507 m/s,
      rangeRepo size: 4

2025-10-25T03:56:41.639Z,1761364601.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 329.645111 m,
      bearing: 331.448783 deg,
      lat: 36.779356 deg,
      lon: -121.859739 deg,
      deltaT: 4.030166 s,
      deltaX: -2.397980 m,
      approachRate: -0.595008 m/s,
      posRepo size: 4

2025-10-25T03:56:41.640Z,1761364601.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:41.647Z,1761364601.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 317.995850 m,
      bearing: 332.073291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021596 deg/s,
      cmd heading: 332.244717 deg,
      new cmd heading: 332.279947 deg.

2025-10-25T03:56:41.647Z,1761364601.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799379 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:41.678Z,1761364601.678 [DAT](INFO): DAT read: user:203>TxSync time:03:56:40.9208

2025-10-25T03:56:41.944Z,1761364601.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861067,0.475540,-0.180067],[-0.485658,0.874035,-0.014134],[0.150664,0.099621,0.983553]]
2025-10-25T03:56:41.989Z,1761364601.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:41.991Z,1761364601.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 317.758331 m,
      bearing: 332.082349 deg,
      approach rate: -0.674906 m/s,
      LOS rate: 0.025756 deg/s,
      cmd heading: 332.279960 deg,
      new cmd heading: 332.307153 deg.

2025-10-25T03:56:41.997Z,1761364601.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799854 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:42.335Z,1761364602.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860216,0.475774,-0.183488],[-0.486593,0.873476,-0.016339],[0.152498,0.103339,0.982886]]
2025-10-25T03:56:42.399Z,1761364602.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:42.406Z,1761364602.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:42.413Z,1761364602.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 317.492188 m,
      bearing: 332.092133 deg,
      approach rate: -0.630384 m/s,
      LOS rate: 0.023195 deg/s,
      cmd heading: 332.307145 deg,
      new cmd heading: 332.336522 deg.

2025-10-25T03:56:42.414Z,1761364602.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800366 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:42.434Z,1761364602.434 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:42.434Z,1761364602.434 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:42.435Z,1761364602.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:42.685Z,1761364602.685 [DAT](INFO): DAT read: 

2025-10-25T03:56:42.686Z,1761364602.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247276
2025-10-25T03:56:42.741Z,1761364602.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858854,0.477252,-0.186013],[-0.488293,0.872535,-0.015876],[0.154726,0.104464,0.982419]]
2025-10-25T03:56:42.787Z,1761364602.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:42.789Z,1761364602.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 317.232361 m,
      bearing: 332.101810 deg,
      approach rate: -0.682840 m/s,
      LOS rate: 0.025454 deg/s,
      cmd heading: 332.336514 deg,
      new cmd heading: 332.365571 deg.

2025-10-25T03:56:42.790Z,1761364602.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800874 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:42.938Z,1761364602.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498919
2025-10-25T03:56:43.138Z,1761364603.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857806,0.478352,-0.188011],[-0.489415,0.871929,-0.014540],[0.156977,0.104488,0.982059]]
2025-10-25T03:56:43.191Z,1761364603.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751171
2025-10-25T03:56:43.283Z,1761364603.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:43.291Z,1761364603.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 316.953033 m,
      bearing: 332.112315 deg,
      approach rate: -0.563403 m/s,
      LOS rate: 0.021206 deg/s,
      cmd heading: 332.365584 deg,
      new cmd heading: 332.397124 deg.

2025-10-25T03:56:43.306Z,1761364603.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801424 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:43.442Z,1761364603.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003582
2025-10-25T03:56:43.611Z,1761364603.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859286,0.474730,-0.190417],[-0.486134,0.873749,-0.015405],[0.159064,0.105805,0.981582]]
2025-10-25T03:56:43.675Z,1761364603.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:43.682Z,1761364603.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 316.673370 m,
      bearing: 332.121926 deg,
      approach rate: -0.712704 m/s,
      LOS rate: 0.024516 deg/s,
      cmd heading: 332.397112 deg,
      new cmd heading: 332.425972 deg.

2025-10-25T03:56:43.683Z,1761364603.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801928 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:43.694Z,1761364603.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254833
2025-10-25T03:56:43.945Z,1761364603.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506743
2025-10-25T03:56:43.999Z,1761364603.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860172,0.472551,-0.191832],[-0.484203,0.874806,-0.016201],[0.160160,0.106822,0.981294]]
2025-10-25T03:56:44.019Z,1761364604.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:44.022Z,1761364604.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 316.450378 m,
      bearing: 332.129516 deg,
      approach rate: -0.648099 m/s,
      LOS rate: 0.022073 deg/s,
      cmd heading: 332.425963 deg,
      new cmd heading: 332.448747 deg.

2025-10-25T03:56:44.023Z,1761364604.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802325 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:44.198Z,1761364604.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759047
2025-10-25T03:56:44.397Z,1761364604.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861340,0.469700,-0.193585],[-0.481784,0.876107,-0.017940],[0.161174,0.108719,0.980919]]
2025-10-25T03:56:44.445Z,1761364604.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:44.447Z,1761364604.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:44.450Z,1761364604.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011721
2025-10-25T03:56:44.453Z,1761364604.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 316.202423 m,
      bearing: 332.136104 deg,
      approach rate: -0.579219 m/s,
      LOS rate: 0.015402 deg/s,
      cmd heading: 332.448748 deg,
      new cmd heading: 332.468528 deg.

2025-10-25T03:56:44.454Z,1761364604.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802670 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:44.702Z,1761364604.702 [DAT](INFO): DAT read: Rx Time:03:56:43.7764

2025-10-25T03:56:44.702Z,1761364604.702 [DAT](INFO): Rx dataTimestamp_ set to:1761364604.701708
2025-10-25T03:56:44.702Z,1761364604.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263774
2025-10-25T03:56:44.805Z,1761364604.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862621,0.466568,-0.195446],[-0.479210,0.877464,-0.020369],[0.161993,0.111230,0.980503]]
2025-10-25T03:56:44.827Z,1761364604.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:44.830Z,1761364604.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 315.981873 m,
      bearing: 332.141857 deg,
      approach rate: -0.580314 m/s,
      LOS rate: 0.015147 deg/s,
      cmd heading: 332.468528 deg,
      new cmd heading: 332.485799 deg.

2025-10-25T03:56:44.831Z,1761364604.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802972 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:44.954Z,1761364604.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514953
2025-10-25T03:56:45.209Z,1761364605.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769416
2025-10-25T03:56:45.275Z,1761364605.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864250,0.462967,-0.196810],[-0.476048,0.879133,-0.022432],[0.162637,0.113078,0.980185]]
2025-10-25T03:56:45.338Z,1761364605.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.65 m.
2025-10-25T03:56:45.340Z,1761364605.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 329.645111 m,
      nav range: 315.696075 m,
      bearing: 332.149136 deg,
      approach rate: -0.559628 m/s,
      LOS rate: 0.014268 deg/s,
      cmd heading: 332.485795 deg,
      new cmd heading: 332.507655 deg.

2025-10-25T03:56:45.341Z,1761364605.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803353 target range: 329.645111 and range: 330.60 m.
2025-10-25T03:56:45.464Z,1761364605.464 [DAT](INFO): DAT read: 03:56:43.7764 LVL= 23392, 22929, 19090, 32755, AGC= 64, IDX= 291,-0.33,-1.269,-2.590,-1.207,-2.043, PHS= 0.862,-0.499, 0.833, RAW= 149.0, -17.4, CAL= 154.9, -24.8, ROT= 355.1,  24.8

2025-10-25T03:56:45.465Z,1761364605.465 [DAT](INFO): got valid direction response:
 03:56:43.7764 LVL= 23392, 22929, 19090, 32755, AGC= 64, IDX= 291,-0.33,-1.269,-2.590,-1.207,-2.043, PHS= 0.862,-0.499, 0.833, RAW= 149.0, -17.4, CAL= 154.9, -24.8, ROT= 355.1,  24.8

2025-10-25T03:56:45.467Z,1761364605.467 [DAT](INFO): DAT read: Bearing 355.1,  24.8 (Local)

2025-10-25T03:56:45.467Z,1761364605.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  24.8 (Local)

2025-10-25T03:56:45.469Z,1761364605.469 [DAT](INFO): DAT read: Range 10 to 50 : 337.9 m  (Round-trip  450.6 ms) speed  0.2 m/s

2025-10-25T03:56:45.470Z,1761364605.470 [DAT](INFO): DAT read: user:204>Tx time:03:56:44.8701

2025-10-25T03:56:45.471Z,1761364605.471 [DAT](INFO): DAT read: TxSync time:03:56:44.8693

2025-10-25T03:56:45.472Z,1761364605.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:45.473Z,1761364605.473 [DAT](INFO): direction in FSK: [0.904460,-0.077539,-0.419452]
2025-10-25T03:56:45.473Z,1761364605.473 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:45.476Z,1761364605.476 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:45.480Z,1761364605.480 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:45.480Z,1761364605.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:45.610Z,1761364605.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865515,0.460295,-0.197515],[-0.473540,0.880467,-0.023196],[0.163228,0.113608,0.980025]]
2025-10-25T03:56:45.709Z,1761364605.709 [DAT](INFO): DAT read: 

2025-10-25T03:56:45.710Z,1761364605.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271375
2025-10-25T03:56:45.718Z,1761364605.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.899994 m,
      deltaT: 4.031980 s,
      deltaX: 7.299988 m,
      approachRate: 1.810522 m/s,
      rangeRepo size: 4

2025-10-25T03:56:45.720Z,1761364605.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 336.926056 m,
      bearing: 329.605522 deg,
      lat: 36.779358 deg,
      lon: -121.859772 deg,
      deltaT: 4.031980 s,
      deltaX: 7.280945 m,
      approachRate: 1.805799 m/s,
      posRepo size: 4

2025-10-25T03:56:45.725Z,1761364605.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:45.731Z,1761364605.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 317.113129 m,
      bearing: 331.696882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014268 deg/s,
      cmd heading: 332.507652 deg,
      new cmd heading: 332.523899 deg.

2025-10-25T03:56:45.731Z,1761364605.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803637 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:45.962Z,1761364605.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522781
2025-10-25T03:56:46.029Z,1761364606.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866117,0.457945,-0.200318],[-0.471850,0.881313,-0.025384],[0.164918,0.116505,0.979402]]
2025-10-25T03:56:46.048Z,1761364606.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:46.052Z,1761364606.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 316.913666 m,
      bearing: 331.699819 deg,
      approach rate: -0.603166 m/s,
      LOS rate: 0.008885 deg/s,
      cmd heading: 332.523908 deg,
      new cmd heading: 332.532722 deg.

2025-10-25T03:56:46.066Z,1761364606.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803791 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:46.213Z,1761364606.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774742
2025-10-25T03:56:46.419Z,1761364606.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866970,0.456324,-0.200330],[-0.469957,0.882365,-0.023934],[0.165843,0.114897,0.979436]]
2025-10-25T03:56:46.467Z,1761364606.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028307
2025-10-25T03:56:46.469Z,1761364606.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:46.471Z,1761364606.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:46.474Z,1761364606.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 316.693695 m,
      bearing: 331.701018 deg,
      approach rate: -0.520204 m/s,
      LOS rate: 0.002839 deg/s,
      cmd heading: 332.532732 deg,
      new cmd heading: 332.536334 deg.

2025-10-25T03:56:46.475Z,1761364606.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803854 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:46.721Z,1761364606.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282006
2025-10-25T03:56:46.835Z,1761364606.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868334,0.454009,-0.199682],[-0.467316,0.883799,-0.022704],[0.166171,0.113029,0.979598]]
2025-10-25T03:56:46.870Z,1761364606.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:46.884Z,1761364606.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 316.489075 m,
      bearing: 331.702024 deg,
      approach rate: -0.512223 m/s,
      LOS rate: 0.002519 deg/s,
      cmd heading: 332.536338 deg,
      new cmd heading: 332.539357 deg.

2025-10-25T03:56:46.925Z,1761364606.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803906 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:46.970Z,1761364606.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531712
2025-10-25T03:56:47.222Z,1761364607.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782769
2025-10-25T03:56:47.246Z,1761364607.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869686,0.452023,-0.198296],[-0.464983,0.885051,-0.021816],[0.165641,0.111177,0.979899]]
2025-10-25T03:56:47.365Z,1761364607.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:47.373Z,1761364607.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 316.230927 m,
      bearing: 331.703166 deg,
      approach rate: -0.531137 m/s,
      LOS rate: 0.002352 deg/s,
      cmd heading: 332.539344 deg,
      new cmd heading: 332.542772 deg.

2025-10-25T03:56:47.374Z,1761364607.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803966 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:47.474Z,1761364607.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034909
2025-10-25T03:56:47.631Z,1761364607.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870714,0.450395,-0.197487],[-0.463067,0.886079,-0.020829],[0.165608,0.109586,0.980084]]
2025-10-25T03:56:47.683Z,1761364607.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:47.686Z,1761364607.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 316.054413 m,
      bearing: 331.702340 deg,
      approach rate: -0.540660 m/s,
      LOS rate: -0.002532 deg/s,
      cmd heading: 332.542759 deg,
      new cmd heading: 332.540279 deg.

2025-10-25T03:56:47.687Z,1761364607.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803923 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:47.725Z,1761364607.725 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:56:47.726Z,1761364607.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287677
2025-10-25T03:56:47.978Z,1761364607.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538795
2025-10-25T03:56:48.041Z,1761364608.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871629,0.448956,-0.196729],[-0.461267,0.887050,-0.019352],[0.165820,0.107613,0.980267]]
2025-10-25T03:56:48.061Z,1761364608.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:48.063Z,1761364608.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 315.854767 m,
      bearing: 331.701332 deg,
      approach rate: -0.528887 m/s,
      LOS rate: -0.002671 deg/s,
      cmd heading: 332.540273 deg,
      new cmd heading: 332.537248 deg.

2025-10-25T03:56:48.064Z,1761364608.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803870 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:48.230Z,1761364608.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790939
2025-10-25T03:56:48.482Z,1761364608.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043196
2025-10-25T03:56:48.506Z,1761364608.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:48.508Z,1761364608.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:48.511Z,1761364608.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 315.614777 m,
      bearing: 331.699824 deg,
      approach rate: -0.536129 m/s,
      LOS rate: -0.003371 deg/s,
      cmd heading: 332.537240 deg,
      new cmd heading: 332.532713 deg.

2025-10-25T03:56:48.512Z,1761364608.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803791 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:48.735Z,1761364608.735 [DAT](INFO): DAT read: Rx Time:03:56:47.7088

2025-10-25T03:56:48.735Z,1761364608.735 [DAT](INFO): Rx dataTimestamp_ set to:1761364608.735130
2025-10-25T03:56:48.736Z,1761364608.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297193
2025-10-25T03:56:48.859Z,1761364608.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872734,0.447282,-0.195638],[-0.458946,0.888313,-0.016413],[0.166446,0.104111,0.980539]]
2025-10-25T03:56:48.927Z,1761364608.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.93 m.
2025-10-25T03:56:48.939Z,1761364608.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.926056 m,
      nav range: 315.413391 m,
      bearing: 331.698470 deg,
      approach rate: -0.481203 m/s,
      LOS rate: -0.003239 deg/s,
      cmd heading: 332.532705 deg,
      new cmd heading: 332.528639 deg.

2025-10-25T03:56:48.940Z,1761364608.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803720 target range: 336.926056 and range: 337.90 m.
2025-10-25T03:56:48.986Z,1761364608.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546913
2025-10-25T03:56:49.243Z,1761364609.243 [DAT](INFO): DAT read: 03:56:47.7088 LVL= 18704, 20465, 14674, 28659, AGC= 67, IDX= 270, 0.29, 3.061, 1.543, 3.074, 2.251, PHS= 0.899,-0.660, 0.821, RAW= 147.5, -13.8, CAL= 154.2, -21.8, ROT= 355.8,  21.8

2025-10-25T03:56:49.245Z,1761364609.245 [DAT](INFO): got valid direction response:
 03:56:47.7088 LVL= 18704, 20465, 14674, 28659, AGC= 67, IDX= 270, 0.29, 3.061, 1.543, 3.074, 2.251, PHS= 0.899,-0.660, 0.821, RAW= 147.5, -13.8, CAL= 154.2, -21.8, ROT= 355.8,  21.8

2025-10-25T03:56:49.246Z,1761364609.246 [DAT](INFO): DAT read: Bearing 355.8,  21.8 (Local)

2025-10-25T03:56:49.246Z,1761364609.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  21.8 (Local)

2025-10-25T03:56:49.247Z,1761364609.247 [DAT](INFO): DAT read: Range 10 to 50 : 325.9 m  (Round-trip  434.6 ms) speed  0.2 m/s

2025-10-25T03:56:49.249Z,1761364609.249 [DAT](INFO): DAT read: Tx time:03:56:48.7716

2025-10-25T03:56:49.249Z,1761364609.249 [DAT](INFO): Ping request sent.
2025-10-25T03:56:49.250Z,1761364609.250 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:56:49.250Z,1761364609.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:49.251Z,1761364609.251 [DAT](INFO): direction in FSK: [0.925992,-0.068001,-0.371368]
2025-10-25T03:56:49.251Z,1761364609.251 [DAT](INFO): publishing transmit ping time
2025-10-25T03:56:49.251Z,1761364609.251 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:49.268Z,1761364609.268 [DAT](INFO): publishing transmit ping time
2025-10-25T03:56:49.268Z,1761364609.268 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:49.390Z,1761364609.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873175,0.446745,-0.194898],[-0.458055,0.888800,-0.014855],[0.166589,0.102245,0.980711]]
2025-10-25T03:56:49.490Z,1761364609.490 [DAT](INFO): DAT read: user:205>TxSync time:03:56:48.7708

2025-10-25T03:56:49.503Z,1761364609.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.899994 m,
      deltaT: 3.780119 s,
      deltaX: -12.000000 m,
      approachRate: -3.174503 m/s,
      rangeRepo size: 4

2025-10-25T03:56:49.509Z,1761364609.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 324.958282 m,
      bearing: 330.609407 deg,
      lat: 36.779356 deg,
      lon: -121.859783 deg,
      deltaT: 3.780119 s,
      deltaX: -11.967773 m,
      approachRate: -3.165978 m/s,
      posRepo size: 4

2025-10-25T03:56:49.510Z,1761364609.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:49.517Z,1761364609.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 315.327057 m,
      bearing: 331.523676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003239 deg/s,
      cmd heading: 332.528634 deg,
      new cmd heading: 332.523040 deg.

2025-10-25T03:56:49.518Z,1761364609.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803622 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:49.780Z,1761364609.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873269,0.446684,-0.194613],[-0.457648,0.889038,-0.013004],[0.167209,0.100420,0.980794]]
2025-10-25T03:56:49.814Z,1761364609.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:49.820Z,1761364609.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 315.142456 m,
      bearing: 331.523427 deg,
      approach rate: -0.592260 m/s,
      LOS rate: -0.000800 deg/s,
      cmd heading: 332.523033 deg,
      new cmd heading: 332.522285 deg.

2025-10-25T03:56:49.826Z,1761364609.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803609 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:50.200Z,1761364610.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872542,0.447681,-0.195582],[-0.458588,0.888568,-0.011979],[0.168425,0.100144,0.980614]]
2025-10-25T03:56:50.224Z,1761364610.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:50.227Z,1761364610.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 314.904297 m,
      bearing: 331.523158 deg,
      approach rate: -0.580632 m/s,
      LOS rate: -0.000657 deg/s,
      cmd heading: 332.522296 deg,
      new cmd heading: 332.521487 deg.

2025-10-25T03:56:50.228Z,1761364610.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803595 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:50.585Z,1761364610.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872214,0.447993,-0.196327],[-0.458599,0.888590,-0.009751],[0.170086,0.098541,0.980490]]
2025-10-25T03:56:50.633Z,1761364610.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:50.635Z,1761364610.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:50.638Z,1761364610.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 314.660492 m,
      bearing: 331.525444 deg,
      approach rate: -0.593078 m/s,
      LOS rate: 0.005565 deg/s,
      cmd heading: 332.521476 deg,
      new cmd heading: 332.528339 deg.

2025-10-25T03:56:50.639Z,1761364610.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803714 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:50.751Z,1761364610.751 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:50.751Z,1761364610.751 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:50.751Z,1761364610.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:50.991Z,1761364610.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871999,0.448269,-0.196653],[-0.458713,0.888543,-0.008601],[0.170879,0.097707,0.980435]]
2025-10-25T03:56:51.001Z,1761364611.001 [DAT](INFO): DAT read: 

2025-10-25T03:56:51.002Z,1761364611.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752888
2025-10-25T03:56:51.013Z,1761364611.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:51.016Z,1761364611.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 314.435455 m,
      bearing: 331.527569 deg,
      approach rate: -0.596756 m/s,
      LOS rate: 0.005639 deg/s,
      cmd heading: 332.528333 deg,
      new cmd heading: 332.534713 deg.

2025-10-25T03:56:51.017Z,1761364611.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803826 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:51.254Z,1761364611.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005089
2025-10-25T03:56:51.410Z,1761364611.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872278,0.447891,-0.196278],[-0.458113,0.888861,-0.007588],[0.171065,0.096537,0.980519]]
2025-10-25T03:56:51.455Z,1761364611.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:51.479Z,1761364611.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 314.165558 m,
      bearing: 331.532884 deg,
      approach rate: -0.612809 m/s,
      LOS rate: 0.012080 deg/s,
      cmd heading: 332.534727 deg,
      new cmd heading: 332.550687 deg.

2025-10-25T03:56:51.480Z,1761364611.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804104 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:51.506Z,1761364611.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256664
2025-10-25T03:56:51.757Z,1761364611.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508264
2025-10-25T03:56:51.807Z,1761364611.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872315,0.447615,-0.196743],[-0.457780,0.889038,-0.007022],[0.171768,0.096190,0.980430]]
2025-10-25T03:56:51.825Z,1761364611.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:51.828Z,1761364611.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 313.934601 m,
      bearing: 331.537429 deg,
      approach rate: -0.620777 m/s,
      LOS rate: 0.012223 deg/s,
      cmd heading: 332.550682 deg,
      new cmd heading: 332.564325 deg.

2025-10-25T03:56:51.829Z,1761364611.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804342 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:51.982Z,1761364611.982 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:56:52.010Z,1761364612.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760325
2025-10-25T03:56:52.201Z,1761364612.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872344,0.447322,-0.197278],[-0.457446,0.889213,-0.006518],[0.172507,0.095930,0.980326]]
2025-10-25T03:56:52.237Z,1761364612.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:52.240Z,1761364612.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 313.681671 m,
      bearing: 331.542400 deg,
      approach rate: -0.614210 m/s,
      LOS rate: 0.012081 deg/s,
      cmd heading: 332.564315 deg,
      new cmd heading: 332.579240 deg.

2025-10-25T03:56:52.241Z,1761364612.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804603 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:52.262Z,1761364612.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012547
2025-10-25T03:56:52.514Z,1761364612.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264319
2025-10-25T03:56:52.609Z,1761364612.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871999,0.447966,-0.197342],[-0.457862,0.889009,-0.005117],[0.173147,0.094818,0.980321]]
2025-10-25T03:56:52.655Z,1761364612.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:52.677Z,1761364612.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:52.680Z,1761364612.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 313.420715 m,
      bearing: 331.549902 deg,
      approach rate: -0.592496 m/s,
      LOS rate: 0.017049 deg/s,
      cmd heading: 332.579232 deg,
      new cmd heading: 332.601759 deg.

2025-10-25T03:56:52.685Z,1761364612.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804996 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:52.767Z,1761364612.767 [DAT](INFO): DAT read: Rx Time:03:56:51.6213

2025-10-25T03:56:52.767Z,1761364612.767 [DAT](INFO): Rx dataTimestamp_ set to:1761364612.767200
2025-10-25T03:56:52.769Z,1761364612.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518794
2025-10-25T03:56:52.986Z,1761364612.986 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:56:53.014Z,1761364613.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872053,0.447473,-0.198222],[-0.457473,0.889208,-0.005268],[0.173903,0.095275,0.980143]]
2025-10-25T03:56:53.018Z,1761364613.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768958
2025-10-25T03:56:53.107Z,1761364613.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.96 m.
2025-10-25T03:56:53.114Z,1761364613.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.958282 m,
      nav range: 313.165222 m,
      bearing: 331.557241 deg,
      approach rate: -0.594668 m/s,
      LOS rate: 0.017094 deg/s,
      cmd heading: 332.601772 deg,
      new cmd heading: 332.623804 deg.

2025-10-25T03:56:53.116Z,1761364613.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805380 target range: 324.958282 and range: 325.90 m.
2025-10-25T03:56:53.276Z,1761364613.276 [DAT](INFO): DAT read: 03:56:51.6213 LVL= 16672, 20945, 15010, 26483, AGC= 68, IDX= 301, 0.10, 2.294, 0.811, 2.436, 1.372, PHS= 1.010,-0.514, 1.060, RAW= 151.6, -19.5, CAL= 157.0, -26.5, ROT= 353.0,  26.5

2025-10-25T03:56:53.277Z,1761364613.277 [DAT](INFO): got valid direction response:
 03:56:51.6213 LVL= 16672, 20945, 15010, 26483, AGC= 68, IDX= 301, 0.10, 2.294, 0.811, 2.436, 1.372, PHS= 1.010,-0.514, 1.060, RAW= 151.6, -19.5, CAL= 157.0, -26.5, ROT= 353.0,  26.5

2025-10-25T03:56:53.278Z,1761364613.278 [DAT](INFO): DAT read: Bearing 353.0,  26.5 (Local)

2025-10-25T03:56:53.278Z,1761364613.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  26.5 (Local)

2025-10-25T03:56:53.280Z,1761364613.280 [DAT](INFO): DAT read: Range 10 to 50 : 334.1 m  (Round-trip  445.5 ms) speed  0.5 m/s

2025-10-25T03:56:53.281Z,1761364613.281 [DAT](INFO): DAT read: user:206>Tx time:03:56:52.7202

2025-10-25T03:56:53.282Z,1761364613.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:53.284Z,1761364613.284 [DAT](INFO): direction in FSK: [0.888264,-0.109065,-0.446198]
2025-10-25T03:56:53.289Z,1761364613.289 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:53.297Z,1761364613.297 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:53.297Z,1761364613.297 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:53.297Z,1761364613.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:53.455Z,1761364613.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871792,0.447343,-0.199656],[-0.457367,0.889266,-0.004615],[0.175483,0.095340,0.979855]]
2025-10-25T03:56:53.522Z,1761364613.522 [DAT](INFO): DAT read: TxSync time:03:56:52.7194

2025-10-25T03:56:53.522Z,1761364613.522 [DAT](INFO): DAT read: 

2025-10-25T03:56:53.523Z,1761364613.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273898
2025-10-25T03:56:53.571Z,1761364613.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 334.100006 m,
      deltaT: 4.031944 s,
      deltaX: 8.200012 m,
      approachRate: 2.033762 m/s,
      rangeRepo size: 4

2025-10-25T03:56:53.579Z,1761364613.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 333.063416 m,
      bearing: 328.400110 deg,
      lat: 36.779356 deg,
      lon: -121.859843 deg,
      deltaT: 4.031944 s,
      deltaX: 8.105133 m,
      approachRate: 2.010230 m/s,
      posRepo size: 4

2025-10-25T03:56:53.580Z,1761364613.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:53.593Z,1761364613.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 315.435822 m,
      bearing: 330.717007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017094 deg/s,
      cmd heading: 332.623792 deg,
      new cmd heading: 332.647225 deg.

2025-10-25T03:56:53.594Z,1761364613.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805789 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:53.774Z,1761364613.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524422
2025-10-25T03:56:53.877Z,1761364613.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871335,0.446079,-0.204422],[-0.457699,0.889041,-0.010891],[0.176881,0.103053,0.978822]]
2025-10-25T03:56:53.924Z,1761364613.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:53.931Z,1761364613.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 315.202026 m,
      bearing: 330.724796 deg,
      approach rate: -0.648559 m/s,
      LOS rate: 0.021624 deg/s,
      cmd heading: 332.647233 deg,
      new cmd heading: 332.670618 deg.

2025-10-25T03:56:53.932Z,1761364613.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806198 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:54.027Z,1761364614.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776911
2025-10-25T03:56:54.278Z,1761364614.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028348
2025-10-25T03:56:54.287Z,1761364614.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870226,0.448281,-0.204329],[-0.459551,0.888108,-0.008768],[0.177536,0.101530,0.978863]]
2025-10-25T03:56:54.318Z,1761364614.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:54.341Z,1761364614.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 314.947968 m,
      bearing: 330.733385 deg,
      approach rate: -0.645099 m/s,
      LOS rate: 0.021826 deg/s,
      cmd heading: 332.670620 deg,
      new cmd heading: 332.696407 deg.

2025-10-25T03:56:54.350Z,1761364614.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806648 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:54.530Z,1761364614.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281210
2025-10-25T03:56:54.699Z,1761364614.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869260,0.450292,-0.204020],[-0.461182,0.887281,-0.006620],[0.178042,0.099845,0.978944]]
2025-10-25T03:56:54.757Z,1761364614.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:54.759Z,1761364614.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:54.778Z,1761364614.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 314.679077 m,
      bearing: 330.743377 deg,
      approach rate: -0.609189 m/s,
      LOS rate: 0.022658 deg/s,
      cmd heading: 332.696411 deg,
      new cmd heading: 332.726414 deg.

2025-10-25T03:56:54.779Z,1761364614.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807171 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:54.783Z,1761364614.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533136
2025-10-25T03:56:55.035Z,1761364615.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785444
2025-10-25T03:56:55.094Z,1761364615.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869851,0.449313,-0.203659],[-0.460169,0.887805,-0.006758],[0.177773,0.099596,0.979019]]
2025-10-25T03:56:55.119Z,1761364615.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:55.122Z,1761364615.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 314.462402 m,
      bearing: 330.751393 deg,
      approach rate: -0.602152 m/s,
      LOS rate: 0.022291 deg/s,
      cmd heading: 332.726409 deg,
      new cmd heading: 332.750472 deg.

2025-10-25T03:56:55.123Z,1761364615.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807591 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:55.286Z,1761364615.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036926
2025-10-25T03:56:55.523Z,1761364615.523 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 174.67, 155.11, 182.34
2025-10-25T03:56:55.538Z,1761364615.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288373
2025-10-25T03:56:55.561Z,1761364615.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:55.563Z,1761364615.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 314.196106 m,
      bearing: 330.761261 deg,
      approach rate: -0.603494 m/s,
      LOS rate: 0.022381 deg/s,
      cmd heading: 332.750479 deg,
      new cmd heading: 332.780106 deg.

2025-10-25T03:56:55.564Z,1761364615.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808108 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:55.790Z,1761364615.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540297
2025-10-25T03:56:55.899Z,1761364615.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871432,0.446455,-0.203185],[-0.457263,0.889303,-0.007084],[0.177530,0.099082,0.979115]]
2025-10-25T03:56:55.944Z,1761364615.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:55.947Z,1761364615.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 313.981201 m,
      bearing: 330.769100 deg,
      approach rate: -0.560767 m/s,
      LOS rate: 0.020470 deg/s,
      cmd heading: 332.780094 deg,
      new cmd heading: 332.803629 deg.

2025-10-25T03:56:55.948Z,1761364615.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808519 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:56.042Z,1761364616.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792647
2025-10-25T03:56:56.294Z,1761364616.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045048
2025-10-25T03:56:56.315Z,1761364616.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872427,0.444533,-0.203128],[-0.455394,0.890257,-0.007630],[0.177444,0.099160,0.979123]]
2025-10-25T03:56:56.353Z,1761364616.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:56.356Z,1761364616.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 313.729553 m,
      bearing: 330.778190 deg,
      approach rate: -0.614110 m/s,
      LOS rate: 0.022201 deg/s,
      cmd heading: 332.803617 deg,
      new cmd heading: 332.830910 deg.

2025-10-25T03:56:56.361Z,1761364616.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808995 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:56.546Z,1761364616.546 [DAT](INFO): DAT read: Rx Time:03:56:55.5665

2025-10-25T03:56:56.546Z,1761364616.546 [DAT](INFO): Rx dataTimestamp_ set to:1761364616.545711
2025-10-25T03:56:56.547Z,1761364616.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297296
2025-10-25T03:56:56.791Z,1761364616.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:56.798Z,1761364616.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548407
2025-10-25T03:56:56.800Z,1761364616.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.06 m.
2025-10-25T03:56:56.807Z,1761364616.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.063416 m,
      nav range: 313.478699 m,
      bearing: 330.784877 deg,
      approach rate: -0.562308 m/s,
      LOS rate: 0.015000 deg/s,
      cmd heading: 332.830911 deg,
      new cmd heading: 332.850986 deg.

2025-10-25T03:56:56.808Z,1761364616.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809346 target range: 333.063416 and range: 334.10 m.
2025-10-25T03:56:57.057Z,1761364617.057 [DAT](INFO): DAT read: 03:56:55.5665 LVL= 18928, 24465, 15586, 30115, AGC= 65, IDX= 411, 0.36, 1.084,-0.025, 1.192, 0.386, PHS= 0.786,-0.365, 0.803, RAW= 150.7, -20.5, CAL= 155.9, -27.4, ROT= 354.1,  27.4

2025-10-25T03:56:57.060Z,1761364617.060 [DAT](INFO): got valid direction response:
 03:56:55.5665 LVL= 18928, 24465, 15586, 30115, AGC= 65, IDX= 411, 0.36, 1.084,-0.025, 1.192, 0.386, PHS= 0.786,-0.365, 0.803, RAW= 150.7, -20.5, CAL= 155.9, -27.4, ROT= 354.1,  27.4

2025-10-25T03:56:57.062Z,1761364617.062 [DAT](INFO): DAT read: Bearing 354.1,  27.4 (Local)

2025-10-25T03:56:57.063Z,1761364617.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,  27.4 (Local)

2025-10-25T03:56:57.067Z,1761364617.067 [DAT](INFO): DAT read: Range 10 to 50 : 331.5 m  (Round-trip  442.1 ms) speed  0.4 m/s

2025-10-25T03:56:57.069Z,1761364617.069 [DAT](INFO): DAT read: user:207>Tx time:03:56:56.6702

2025-10-25T03:56:57.070Z,1761364617.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:56:57.086Z,1761364617.086 [DAT](INFO): direction in FSK: [0.883112,-0.091261,-0.460200]
2025-10-25T03:56:57.086Z,1761364617.086 [DAT](INFO): publishing direction and range info
2025-10-25T03:56:57.090Z,1761364617.090 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:56:57.090Z,1761364617.090 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:56:57.090Z,1761364617.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:57.151Z,1761364617.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874865,0.439662,-0.203247],[-0.451027,0.892444,-0.010893],[0.176598,0.101200,0.979067]]
2025-10-25T03:56:57.223Z,1761364617.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 331.500000 m,
      deltaT: 3.781262 s,
      deltaX: -2.600006 m,
      approachRate: -0.687603 m/s,
      rangeRepo size: 4

2025-10-25T03:56:57.229Z,1761364617.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.357513 m,
      bearing: 330.112494 deg,
      lat: 36.779351 deg,
      lon: -121.859887 deg,
      deltaT: 3.781262 s,
      deltaX: -2.705902 m,
      approachRate: -0.715608 m/s,
      posRepo size: 4

2025-10-25T03:56:57.230Z,1761364617.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:57.240Z,1761364617.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 314.737335 m,
      bearing: 330.113419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015000 deg/s,
      cmd heading: 332.850992 deg,
      new cmd heading: 332.870011 deg.

2025-10-25T03:56:57.245Z,1761364617.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809678 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:57.302Z,1761364617.302 [DAT](INFO): DAT read: 

2025-10-25T03:56:57.303Z,1761364617.303 [DAT](INFO): DAT read: TxSync time:03:56:56.6694

2025-10-25T03:56:57.305Z,1761364617.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055534
2025-10-25T03:56:57.530Z,1761364617.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875540,0.438347,-0.203177],[-0.449742,0.893088,-0.011242],[0.176527,0.101220,0.979078]]
2025-10-25T03:56:57.554Z,1761364617.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304404
2025-10-25T03:56:57.607Z,1761364617.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:57.610Z,1761364617.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 314.514435 m,
      bearing: 330.116374 deg,
      approach rate: -0.579221 m/s,
      LOS rate: 0.007685 deg/s,
      cmd heading: 332.870007 deg,
      new cmd heading: 332.878879 deg.

2025-10-25T03:56:57.611Z,1761364617.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809833 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:57.806Z,1761364617.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556259
2025-10-25T03:56:57.926Z,1761364617.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875907,0.437939,-0.202476],[-0.448881,0.893544,-0.009183],[0.176900,0.098931,0.979244]]
2025-10-25T03:56:57.948Z,1761364617.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:57.950Z,1761364617.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 314.329041 m,
      bearing: 330.118804 deg,
      approach rate: -0.544306 m/s,
      LOS rate: 0.007138 deg/s,
      cmd heading: 332.878886 deg,
      new cmd heading: 332.886179 deg.

2025-10-25T03:56:57.951Z,1761364617.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809960 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:58.058Z,1761364618.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808478
2025-10-25T03:56:58.310Z,1761364618.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060699
2025-10-25T03:56:58.332Z,1761364618.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876754,0.435557,-0.203941],[-0.447116,0.894395,-0.012016],[0.177171,0.101720,0.978909]]
2025-10-25T03:56:58.380Z,1761364618.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:58.388Z,1761364618.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 314.096313 m,
      bearing: 330.121773 deg,
      approach rate: -0.538806 m/s,
      LOS rate: 0.006879 deg/s,
      cmd heading: 332.886181 deg,
      new cmd heading: 332.895094 deg.

2025-10-25T03:56:58.397Z,1761364618.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810115 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:58.565Z,1761364618.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315454
2025-10-25T03:56:58.739Z,1761364618.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877922,0.432860,-0.204657],[-0.444856,0.895488,-0.014311],[0.177073,0.103607,0.978729]]
2025-10-25T03:56:58.789Z,1761364618.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:58.791Z,1761364618.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 313.873871 m,
      bearing: 330.122196 deg,
      approach rate: -0.543794 m/s,
      LOS rate: 0.001035 deg/s,
      cmd heading: 332.895087 deg,
      new cmd heading: 332.896357 deg.

2025-10-25T03:56:58.793Z,1761364618.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810137 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:58.813Z,1761364618.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564198
2025-10-25T03:56:59.067Z,1761364619.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817333
2025-10-25T03:56:59.178Z,1761364619.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879242,0.430303,-0.204383],[-0.442558,0.896594,-0.016191],[0.176282,0.104687,0.978757]]
2025-10-25T03:56:59.213Z,1761364619.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:56:59.218Z,1761364619.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:59.224Z,1761364619.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 313.651093 m,
      bearing: 330.122511 deg,
      approach rate: -0.518815 m/s,
      LOS rate: 0.000733 deg/s,
      cmd heading: 332.896344 deg,
      new cmd heading: 332.897289 deg.

2025-10-25T03:56:59.227Z,1761364619.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810154 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:59.318Z,1761364619.318 [DAT](INFO): Reached modem response timeout
2025-10-25T03:56:59.318Z,1761364619.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:59.318Z,1761364619.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:56:59.569Z,1761364619.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:56:59.597Z,1761364619.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880545,0.427837,-0.203950],[-0.440213,0.897725,-0.017395],[0.175649,0.105098,0.978827]]
2025-10-25T03:56:59.645Z,1761364619.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:56:59.647Z,1761364619.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 313.417999 m,
      bearing: 330.120539 deg,
      approach rate: -0.546786 m/s,
      LOS rate: -0.004627 deg/s,
      cmd heading: 332.897300 deg,
      new cmd heading: 332.891382 deg.

2025-10-25T03:56:59.649Z,1761364619.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810050 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:56:59.823Z,1761364619.823 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:00.035Z,1761364620.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881135,0.426647,-0.203897],[-0.439000,0.898318,-0.017429],[0.175728,0.104868,0.978837]]
2025-10-25T03:57:00.065Z,1761364620.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:00.067Z,1761364620.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 313.195007 m,
      bearing: 330.118595 deg,
      approach rate: -0.530701 m/s,
      LOS rate: -0.004631 deg/s,
      cmd heading: 332.891372 deg,
      new cmd heading: 332.885534 deg.

2025-10-25T03:57:00.068Z,1761364620.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809948 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:57:00.073Z,1761364620.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:00.325Z,1761364620.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:00.432Z,1761364620.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881548,0.425710,-0.204069],[-0.437901,0.898871,-0.016525],[0.176397,0.103930,0.978817]]
2025-10-25T03:57:00.526Z,1761364620.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:00.534Z,1761364620.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 312.974335 m,
      bearing: 330.116621 deg,
      approach rate: -0.478186 m/s,
      LOS rate: -0.004281 deg/s,
      cmd heading: 332.885525 deg,
      new cmd heading: 332.879598 deg.

2025-10-25T03:57:00.566Z,1761364620.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809845 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:57:00.578Z,1761364620.578 [DAT](INFO): DAT read: Rx Time:03:56:59.5137

2025-10-25T03:57:00.578Z,1761364620.578 [DAT](INFO): Rx dataTimestamp_ set to:1761364620.577848
2025-10-25T03:57:00.578Z,1761364620.578 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:00.830Z,1761364620.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:00.855Z,1761364620.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881657,0.425445,-0.204149],[-0.437267,0.899215,-0.014465],[0.177420,0.102020,0.978833]]
2025-10-25T03:57:00.907Z,1761364620.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:00.910Z,1761364620.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 312.740906 m,
      bearing: 330.113074 deg,
      approach rate: -0.612829 m/s,
      LOS rate: -0.009319 deg/s,
      cmd heading: 332.879596 deg,
      new cmd heading: 332.868948 deg.

2025-10-25T03:57:00.911Z,1761364620.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809659 target range: 330.357513 and range: 331.50 m.
2025-10-25T03:57:01.083Z,1761364621.083 [DAT](INFO): DAT read: Range 10 to 50 : 329.5 m  (Round-trip  439.4 ms) speed  0.4 m/s

2025-10-25T03:57:01.083Z,1761364621.083 [DAT](INFO): DAT read: user:208>

2025-10-25T03:57:01.084Z,1761364621.084 [DAT](INFO): DAT read: Tx time:03:57:00.5702

2025-10-25T03:57:01.084Z,1761364621.084 [DAT](INFO): Ping request sent.
2025-10-25T03:57:01.085Z,1761364621.085 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:01.085Z,1761364621.085 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T03:57:01.085Z,1761364621.085 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:01.086Z,1761364621.086 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:01.293Z,1761364621.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:01.298Z,1761364621.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 329.500000 m,
      deltaT: 4.030709 s,
      deltaX: -2.000000 m,
      approachRate: -0.496191 m/s,
      rangeRepo size: 4

2025-10-25T03:57:01.299Z,1761364621.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:01.304Z,1761364621.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 312.530914 m,
      bearing: 330.109878 deg,
      approach rate: -0.539639 m/s,
      LOS rate: -0.008217 deg/s,
      cmd heading: 332.868941 deg,
      new cmd heading: 332.859348 deg.

2025-10-25T03:57:01.306Z,1761364621.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809492 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:01.335Z,1761364621.335 [DAT](INFO): DAT read: TxSync time:03:57:00.5694

2025-10-25T03:57:01.335Z,1761364621.335 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:01.335Z,1761364621.335 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:01.335Z,1761364621.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:01.586Z,1761364621.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501096
2025-10-25T03:57:01.729Z,1761364621.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879570,0.430108,-0.203380],[-0.439375,0.898304,-0.000461],[0.182499,0.089765,0.979100]]
2025-10-25T03:57:01.785Z,1761364621.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:01.788Z,1761364621.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 312.251862 m,
      bearing: 330.106282 deg,
      approach rate: -0.570837 m/s,
      LOS rate: -0.007364 deg/s,
      cmd heading: 332.859352 deg,
      new cmd heading: 332.848553 deg.

2025-10-25T03:57:01.805Z,1761364621.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809303 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:01.840Z,1761364621.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755072
2025-10-25T03:57:02.091Z,1761364622.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006167
2025-10-25T03:57:02.195Z,1761364622.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:02.199Z,1761364622.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 312.026978 m,
      bearing: 330.103378 deg,
      approach rate: -0.547764 m/s,
      LOS rate: -0.007077 deg/s,
      cmd heading: 332.848560 deg,
      new cmd heading: 332.839844 deg.

2025-10-25T03:57:02.200Z,1761364622.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809151 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:02.342Z,1761364622.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257145
2025-10-25T03:57:02.560Z,1761364622.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879219,0.430750,-0.203541],[-0.439531,0.898224,0.002289],[0.183811,0.087450,0.979064]]
2025-10-25T03:57:02.595Z,1761364622.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510163
2025-10-25T03:57:02.661Z,1761364622.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:02.664Z,1761364622.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 311.752563 m,
      bearing: 330.101190 deg,
      approach rate: -0.588868 m/s,
      LOS rate: -0.004701 deg/s,
      cmd heading: 332.839845 deg,
      new cmd heading: 332.833273 deg.

2025-10-25T03:57:02.669Z,1761364622.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809036 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:02.846Z,1761364622.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761416
2025-10-25T03:57:02.935Z,1761364622.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879424,0.431325,-0.201425],[-0.439968,0.898011,0.002065],[0.181773,0.086805,0.979502]]
2025-10-25T03:57:02.956Z,1761364622.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:02.993Z,1761364622.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 311.572906 m,
      bearing: 330.099766 deg,
      approach rate: -0.610349 m/s,
      LOS rate: -0.004840 deg/s,
      cmd heading: 332.833260 deg,
      new cmd heading: 332.828987 deg.

2025-10-25T03:57:02.994Z,1761364622.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808962 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:03.098Z,1761364623.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013835
2025-10-25T03:57:03.332Z,1761364623.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879377,0.432687,-0.198691],[-0.441280,0.897369,0.001147],[0.178795,0.086670,0.980062]]
2025-10-25T03:57:03.350Z,1761364623.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265655
2025-10-25T03:57:03.352Z,1761364623.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:03.354Z,1761364623.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:03.357Z,1761364623.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 311.338715 m,
      bearing: 330.097960 deg,
      approach rate: -0.587268 m/s,
      LOS rate: -0.004531 deg/s,
      cmd heading: 332.828998 deg,
      new cmd heading: 332.823577 deg.

2025-10-25T03:57:03.358Z,1761364623.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808867 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:03.602Z,1761364623.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517189
2025-10-25T03:57:03.747Z,1761364623.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879357,0.434020,-0.195852],[-0.442542,0.896748,0.000277],[0.175750,0.086430,0.980633]]
2025-10-25T03:57:03.829Z,1761364623.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:03.837Z,1761364623.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 311.057831 m,
      bearing: 330.097890 deg,
      approach rate: -0.591683 m/s,
      LOS rate: -0.000149 deg/s,
      cmd heading: 332.823589 deg,
      new cmd heading: 332.823377 deg.

2025-10-25T03:57:03.838Z,1761364623.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808864 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:03.866Z,1761364623.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781902
2025-10-25T03:57:04.119Z,1761364624.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034020
2025-10-25T03:57:04.164Z,1761364624.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879039,0.436028,-0.192793],[-0.444474,0.895791,-0.000623],[0.172430,0.086239,0.981239]]
2025-10-25T03:57:04.209Z,1761364624.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:04.212Z,1761364624.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 310.834595 m,
      bearing: 330.097911 deg,
      approach rate: -0.587448 m/s,
      LOS rate: 0.000057 deg/s,
      cmd heading: 332.823370 deg,
      new cmd heading: 332.823435 deg.

2025-10-25T03:57:04.217Z,1761364624.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808865 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:04.370Z,1761364624.370 [DAT](INFO): DAT read: Rx Time:03:57:03.4114

2025-10-25T03:57:04.370Z,1761364624.370 [DAT](INFO): Rx dataTimestamp_ set to:1761364624.369855
2025-10-25T03:57:04.371Z,1761364624.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286232
2025-10-25T03:57:04.602Z,1761364624.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879039,0.437100,-0.190353],[-0.445912,0.895068,-0.003886],[0.168681,0.088297,0.981708]]
2025-10-25T03:57:04.622Z,1761364624.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537219
2025-10-25T03:57:04.675Z,1761364624.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.36 m.
2025-10-25T03:57:04.686Z,1761364624.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.357513 m,
      nav range: 310.561981 m,
      bearing: 330.099537 deg,
      approach rate: -0.585298 m/s,
      LOS rate: 0.003495 deg/s,
      cmd heading: 332.823425 deg,
      new cmd heading: 332.828308 deg.

2025-10-25T03:57:04.687Z,1761364624.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808950 target range: 330.357513 and range: 329.50 m.
2025-10-25T03:57:04.899Z,1761364624.899 [DAT](INFO): DAT read: 03:57:03.4114 LVL= 21120, 26945, 18066, 28627, AGC= 67, IDX= 423,-0.14, 0.033,-1.303, 0.084,-0.670, PHS= 0.792,-0.585, 0.752, RAW= 148.5, -14.0, CAL= 155.2, -21.8, ROT= 354.8,  21.8

2025-10-25T03:57:04.902Z,1761364624.902 [DAT](INFO): got valid direction response:
 03:57:03.4114 LVL= 21120, 26945, 18066, 28627, AGC= 67, IDX= 423,-0.14, 0.033,-1.303, 0.084,-0.670, PHS= 0.792,-0.585, 0.752, RAW= 148.5, -14.0, CAL= 155.2, -21.8, ROT= 354.8,  21.8

2025-10-25T03:57:04.903Z,1761364624.903 [DAT](INFO): DAT read: Bearing 354.8,  21.8 (Local)

2025-10-25T03:57:04.903Z,1761364624.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  21.8 (Local)

2025-10-25T03:57:04.905Z,1761364624.905 [DAT](INFO): DAT read: Range 10 to 50 : 327.7 m  (Round-trip  437.0 ms) speed  0.4 m/s

2025-10-25T03:57:04.906Z,1761364624.906 [DAT](INFO): DAT read: Tx time:03:57:04.4718

2025-10-25T03:57:04.906Z,1761364624.906 [DAT](INFO): Ping request sent.
2025-10-25T03:57:04.907Z,1761364624.907 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:04.907Z,1761364624.907 [DAT](INFO): DAT read: user:209>

2025-10-25T03:57:04.908Z,1761364624.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:04.910Z,1761364624.910 [DAT](INFO): direction in FSK: [0.924665,-0.084151,-0.371368]
2025-10-25T03:57:04.910Z,1761364624.910 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:04.911Z,1761364624.911 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:04.915Z,1761364624.915 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:04.916Z,1761364624.916 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:05.021Z,1761364625.021 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:57:05.035Z,1761364625.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878894,0.438571,-0.187617],[-0.447506,0.894261,-0.005935],[0.165175,0.089176,0.982224]]
2025-10-25T03:57:05.117Z,1761364625.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 327.700012 m,
      deltaT: 3.795039 s,
      deltaX: -1.799988 m,
      approachRate: -0.474300 m/s,
      rangeRepo size: 4

2025-10-25T03:57:05.119Z,1761364625.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 326.444550 m,
      bearing: 330.065078 deg,
      lat: 36.779351 deg,
      lon: -121.859926 deg,
      deltaT: 7.825748 s,
      deltaX: -3.912964 m,
      approachRate: -0.500012 m/s,
      posRepo size: 4

2025-10-25T03:57:05.120Z,1761364625.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:05.126Z,1761364625.126 [DAT](INFO): DAT read: TxSync time:03:57:04.4710

2025-10-25T03:57:05.133Z,1761364625.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 312.015747 m,
      bearing: 329.557534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003495 deg/s,
      cmd heading: 332.828315 deg,
      new cmd heading: 332.832821 deg.

2025-10-25T03:57:05.136Z,1761364625.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809029 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:05.468Z,1761364625.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878617,0.440090,-0.185347],[-0.449177,0.893407,-0.007960],[0.162088,0.090247,0.982641]]
2025-10-25T03:57:05.526Z,1761364625.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:05.528Z,1761364625.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:05.563Z,1761364625.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 311.755188 m,
      bearing: 329.558774 deg,
      approach rate: -0.615429 m/s,
      LOS rate: 0.002932 deg/s,
      cmd heading: 332.832823 deg,
      new cmd heading: 332.836547 deg.

2025-10-25T03:57:05.577Z,1761364625.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809093 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:05.629Z,1761364625.629 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:05.629Z,1761364625.629 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:05.630Z,1761364625.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:05.883Z,1761364625.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975791
2025-10-25T03:57:05.902Z,1761364625.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879173,0.440310,-0.182159],[-0.449084,0.893455,-0.007819],[0.159308,0.088679,0.983238]]
2025-10-25T03:57:05.968Z,1761364625.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:05.991Z,1761364625.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 311.502197 m,
      bearing: 329.561060 deg,
      approach rate: -0.576980 m/s,
      LOS rate: 0.005218 deg/s,
      cmd heading: 332.836539 deg,
      new cmd heading: 332.843403 deg.

2025-10-25T03:57:06.001Z,1761364626.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809213 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:06.134Z,1761364626.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226907
2025-10-25T03:57:06.292Z,1761364626.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879499,0.440240,-0.180750],[-0.449322,0.893307,-0.010559],[0.156817,0.090502,0.983472]]
2025-10-25T03:57:06.341Z,1761364626.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:06.344Z,1761364626.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 311.280029 m,
      bearing: 329.563070 deg,
      approach rate: -0.627326 m/s,
      LOS rate: 0.005679 deg/s,
      cmd heading: 332.843396 deg,
      new cmd heading: 332.849430 deg.

2025-10-25T03:57:06.345Z,1761364626.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809319 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:06.387Z,1761364626.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479756
2025-10-25T03:57:06.638Z,1761364626.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731128
2025-10-25T03:57:06.701Z,1761364626.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880579,0.439146,-0.178131],[-0.448408,0.893729,-0.013369],[0.153330,0.091647,0.983916]]
2025-10-25T03:57:06.758Z,1761364626.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:06.765Z,1761364626.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 311.032135 m,
      bearing: 329.565421 deg,
      approach rate: -0.567465 m/s,
      LOS rate: 0.005386 deg/s,
      cmd heading: 332.849434 deg,
      new cmd heading: 332.856493 deg.

2025-10-25T03:57:06.767Z,1761364626.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809442 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:06.890Z,1761364626.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983153
2025-10-25T03:57:07.110Z,1761364627.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881200,0.439331,-0.174572],[-0.448551,0.893627,-0.015265],[0.149296,0.091756,0.984526]]
2025-10-25T03:57:07.142Z,1761364627.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235018
2025-10-25T03:57:07.147Z,1761364627.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:07.166Z,1761364627.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 310.798462 m,
      bearing: 329.567632 deg,
      approach rate: -0.599738 m/s,
      LOS rate: 0.005678 deg/s,
      cmd heading: 332.856483 deg,
      new cmd heading: 332.863120 deg.

2025-10-25T03:57:07.168Z,1761364627.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809557 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:07.394Z,1761364627.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487444
2025-10-25T03:57:07.530Z,1761364627.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:07.533Z,1761364627.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:07.536Z,1761364627.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 310.568573 m,
      bearing: 329.569810 deg,
      approach rate: -0.595655 m/s,
      LOS rate: 0.005648 deg/s,
      cmd heading: 332.863122 deg,
      new cmd heading: 332.869661 deg.

2025-10-25T03:57:07.537Z,1761364627.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809671 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:07.646Z,1761364627.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739027
2025-10-25T03:57:07.898Z,1761364627.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990938
2025-10-25T03:57:07.908Z,1761364627.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882265,0.439085,-0.169745],[-0.448629,0.893481,-0.020591],[0.142623,0.094320,0.985273]]
2025-10-25T03:57:07.972Z,1761364627.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:07.984Z,1761364627.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 310.335480 m,
      bearing: 329.571365 deg,
      approach rate: -0.531480 m/s,
      LOS rate: 0.003550 deg/s,
      cmd heading: 332.869652 deg,
      new cmd heading: 332.874322 deg.

2025-10-25T03:57:07.990Z,1761364627.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809753 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:08.151Z,1761364628.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243889
2025-10-25T03:57:08.321Z,1761364628.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882690,0.439210,-0.167192],[-0.448810,0.893339,-0.022708],[0.139385,0.095081,0.985663]]
2025-10-25T03:57:08.341Z,1761364628.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:08.343Z,1761364628.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 310.115662 m,
      bearing: 329.572831 deg,
      approach rate: -0.596418 m/s,
      LOS rate: 0.003980 deg/s,
      cmd heading: 332.874324 deg,
      new cmd heading: 332.878724 deg.

2025-10-25T03:57:08.344Z,1761364628.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809830 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:08.403Z,1761364628.403 [DAT](INFO): DAT read: Rx Time:03:57:07.3102

2025-10-25T03:57:08.404Z,1761364628.404 [DAT](INFO): Rx dataTimestamp_ set to:1761364628.403410
2025-10-25T03:57:08.404Z,1761364628.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497607
2025-10-25T03:57:08.653Z,1761364628.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746746
2025-10-25T03:57:08.717Z,1761364628.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883104,0.439354,-0.164607],[-0.448947,0.893223,-0.024455],[0.136286,0.095497,0.986056]]
2025-10-25T03:57:08.833Z,1761364628.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.44 m.
2025-10-25T03:57:08.835Z,1761364628.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.444550 m,
      nav range: 309.858490 m,
      bearing: 329.573766 deg,
      approach rate: -0.527056 m/s,
      LOS rate: 0.001918 deg/s,
      cmd heading: 332.878722 deg,
      new cmd heading: 332.881529 deg.

2025-10-25T03:57:08.841Z,1761364628.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809879 target range: 326.444550 and range: 327.70 m.
2025-10-25T03:57:08.915Z,1761364628.915 [DAT](INFO): DAT read: 03:57:07.3102 LVL= 20528, 20977, 17122, 26979, AGC= 64, IDX= 155,-0.49, 0.785,-0.618, 0.809,-0.026, PHS= 0.899,-0.546, 0.832, RAW= 147.7, -16.5, CAL= 153.8, -24.1, ROT= 356.2,  24.1

2025-10-25T03:57:08.918Z,1761364628.918 [DAT](INFO): got valid direction response:
 03:57:07.3102 LVL= 20528, 20977, 17122, 26979, AGC= 64, IDX= 155,-0.49, 0.785,-0.618, 0.809,-0.026, PHS= 0.899,-0.546, 0.832, RAW= 147.7, -16.5, CAL= 153.8, -24.1, ROT= 356.2,  24.1

2025-10-25T03:57:08.919Z,1761364628.919 [DAT](INFO): DAT read: Bearing 356.2,  24.1 (Local)

2025-10-25T03:57:08.920Z,1761364628.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  24.1 (Local)

2025-10-25T03:57:08.924Z,1761364628.924 [DAT](INFO): DAT read: Range 10 to 50 : 325.6 m  (Round-trip  434.2 ms) speed  0.6 m/s

2025-10-25T03:57:08.925Z,1761364628.925 [DAT](INFO): DAT read: Tx time:03:57:08.3734

2025-10-25T03:57:08.925Z,1761364628.925 [DAT](INFO): Ping request sent.
2025-10-25T03:57:08.925Z,1761364628.925 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:08.926Z,1761364628.926 [DAT](INFO): DAT read: user:210>

2025-10-25T03:57:08.926Z,1761364628.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:08.927Z,1761364628.927 [DAT](INFO): direction in FSK: [0.910827,-0.060497,-0.408330]
2025-10-25T03:57:08.927Z,1761364628.927 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:08.928Z,1761364628.928 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:08.955Z,1761364628.955 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:08.955Z,1761364628.955 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:09.121Z,1761364629.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883326,0.440046,-0.161539],[-0.449497,0.892916,-0.025555],[0.132995,0.095185,0.986535]]
2025-10-25T03:57:09.160Z,1761364629.160 [DAT](INFO): DAT read: TxSync time:03:57:08.3726

2025-10-25T03:57:09.187Z,1761364629.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 325.600006 m,
      deltaT: 4.029504 s,
      deltaX: -2.100006 m,
      approachRate: -0.521157 m/s,
      rangeRepo size: 4

2025-10-25T03:57:09.194Z,1761364629.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 324.313538 m,
      bearing: 331.773436 deg,
      lat: 36.779351 deg,
      lon: -121.859887 deg,
      deltaT: 4.029504 s,
      deltaX: -2.131012 m,
      approachRate: -0.528852 m/s,
      posRepo size: 4

2025-10-25T03:57:09.194Z,1761364629.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:09.202Z,1761364629.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 307.959381 m,
      bearing: 330.122316 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001918 deg/s,
      cmd heading: 332.881536 deg,
      new cmd heading: 332.883598 deg.

2025-10-25T03:57:09.209Z,1761364629.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809915 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:09.521Z,1761364629.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883397,0.440806,-0.159059],[-0.450173,0.892543,-0.026678],[0.130207,0.095172,0.986909]]
2025-10-25T03:57:09.547Z,1761364629.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:09.550Z,1761364629.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:09.553Z,1761364629.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 307.744965 m,
      bearing: 330.123522 deg,
      approach rate: -0.590417 m/s,
      LOS rate: 0.003321 deg/s,
      cmd heading: 332.883585 deg,
      new cmd heading: 332.887203 deg.

2025-10-25T03:57:09.554Z,1761364629.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809978 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:09.664Z,1761364629.664 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:09.664Z,1761364629.664 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:09.666Z,1761364629.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:09.914Z,1761364629.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988177
2025-10-25T03:57:10.008Z,1761364630.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:10.021Z,1761364630.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 307.506104 m,
      bearing: 330.123968 deg,
      approach rate: -0.523451 m/s,
      LOS rate: 0.000979 deg/s,
      cmd heading: 332.887192 deg,
      new cmd heading: 332.888532 deg.

2025-10-25T03:57:10.022Z,1761364630.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810001 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:10.167Z,1761364630.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241079
2025-10-25T03:57:10.330Z,1761364630.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883252,0.446226,-0.144046],[-0.452375,0.891755,-0.011367],[0.123381,0.075202,0.989506]]
2025-10-25T03:57:10.367Z,1761364630.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:10.370Z,1761364630.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 307.304138 m,
      bearing: 330.124437 deg,
      approach rate: -0.560063 m/s,
      LOS rate: 0.001301 deg/s,
      cmd heading: 332.888530 deg,
      new cmd heading: 332.889938 deg.

2025-10-25T03:57:10.371Z,1761364630.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810026 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:10.418Z,1761364630.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492402
2025-10-25T03:57:10.670Z,1761364630.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744202
2025-10-25T03:57:10.737Z,1761364630.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883619,0.446473,-0.140998],[-0.452730,0.891535,-0.014148],[0.119388,0.076336,0.989909]]
2025-10-25T03:57:10.777Z,1761364630.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:10.779Z,1761364630.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 307.065735 m,
      bearing: 330.125535 deg,
      approach rate: -0.582059 m/s,
      LOS rate: 0.002685 deg/s,
      cmd heading: 332.889951 deg,
      new cmd heading: 332.893250 deg.

2025-10-25T03:57:10.780Z,1761364630.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810083 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:10.921Z,1761364630.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996071
2025-10-25T03:57:11.174Z,1761364631.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248722
2025-10-25T03:57:11.225Z,1761364631.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886301,0.442190,-0.137617],[-0.449270,0.893078,-0.023821],[0.112369,0.082940,0.990199]]
2025-10-25T03:57:11.254Z,1761364631.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:11.256Z,1761364631.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 306.798676 m,
      bearing: 330.126538 deg,
      approach rate: -0.559603 m/s,
      LOS rate: 0.002103 deg/s,
      cmd heading: 332.893257 deg,
      new cmd heading: 332.896267 deg.

2025-10-25T03:57:11.257Z,1761364631.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810136 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:11.426Z,1761364631.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500274
2025-10-25T03:57:11.648Z,1761364631.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887936,0.438811,-0.137895],[-0.446719,0.894130,-0.031203],[0.109604,0.089306,0.989955]]
2025-10-25T03:57:11.680Z,1761364631.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754376
2025-10-25T03:57:11.736Z,1761364631.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:11.739Z,1761364631.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:11.751Z,1761364631.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 306.530396 m,
      bearing: 330.127382 deg,
      approach rate: -0.553125 m/s,
      LOS rate: 0.001742 deg/s,
      cmd heading: 332.896262 deg,
      new cmd heading: 332.898796 deg.

2025-10-25T03:57:11.752Z,1761364631.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810180 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:11.930Z,1761364631.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004137
2025-10-25T03:57:12.179Z,1761364632.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889272,0.436112,-0.137847],[-0.444582,0.894993,-0.036542],[0.107435,0.093780,0.989779]]
2025-10-25T03:57:12.182Z,1761364632.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256201
2025-10-25T03:57:12.247Z,1761364632.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:12.253Z,1761364632.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 306.241943 m,
      bearing: 330.127596 deg,
      approach rate: -0.567416 m/s,
      LOS rate: 0.000421 deg/s,
      cmd heading: 332.898803 deg,
      new cmd heading: 332.899445 deg.

2025-10-25T03:57:12.255Z,1761364632.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810192 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:12.434Z,1761364632.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508411
2025-10-25T03:57:12.582Z,1761364632.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889598,0.435701,-0.137038],[-0.444349,0.895007,-0.038941],[0.105684,0.095535,0.989800]]
2025-10-25T03:57:12.622Z,1761364632.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:12.625Z,1761364632.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 306.043579 m,
      bearing: 330.127727 deg,
      approach rate: -0.529275 m/s,
      LOS rate: 0.000349 deg/s,
      cmd heading: 332.899459 deg,
      new cmd heading: 332.899851 deg.

2025-10-25T03:57:12.626Z,1761364632.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810198 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:12.690Z,1761364632.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763864
2025-10-25T03:57:12.938Z,1761364632.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012196
2025-10-25T03:57:12.991Z,1761364632.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889597,0.435999,-0.136097],[-0.444740,0.894736,-0.040674],[0.104038,0.096711,0.989860]]
2025-10-25T03:57:13.058Z,1761364633.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:13.061Z,1761364633.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 305.781677 m,
      bearing: 330.128784 deg,
      approach rate: -0.600469 m/s,
      LOS rate: 0.002426 deg/s,
      cmd heading: 332.899841 deg,
      new cmd heading: 332.903016 deg.

2025-10-25T03:57:13.062Z,1761364633.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810254 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:13.194Z,1761364633.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268230
2025-10-25T03:57:13.394Z,1761364633.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888982,0.437838,-0.134199],[-0.446302,0.894002,-0.039691],[0.102596,0.095178,0.990159]]
2025-10-25T03:57:13.424Z,1761364633.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:13.427Z,1761364633.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 305.570862 m,
      bearing: 330.129706 deg,
      approach rate: -0.575792 m/s,
      LOS rate: 0.002519 deg/s,
      cmd heading: 332.903010 deg,
      new cmd heading: 332.905777 deg.

2025-10-25T03:57:13.428Z,1761364633.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810302 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:13.447Z,1761364633.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521968
2025-10-25T03:57:13.701Z,1761364633.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774719
2025-10-25T03:57:13.797Z,1761364633.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888431,0.439386,-0.132782],[-0.447736,0.893278,-0.039833],[0.101109,0.094840,0.990345]]
2025-10-25T03:57:13.858Z,1761364633.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:13.860Z,1761364633.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:13.869Z,1761364633.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 305.314056 m,
      bearing: 330.130556 deg,
      approach rate: -0.589587 m/s,
      LOS rate: 0.001954 deg/s,
      cmd heading: 332.905770 deg,
      new cmd heading: 332.908323 deg.

2025-10-25T03:57:13.871Z,1761364633.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810346 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:13.951Z,1761364633.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025462
2025-10-25T03:57:14.201Z,1761364634.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276117
2025-10-25T03:57:14.205Z,1761364634.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887605,0.441349,-0.131787],[-0.449606,0.892343,-0.039743],[0.100059,0.094528,0.990481]]
2025-10-25T03:57:14.222Z,1761364634.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:14.242Z,1761364634.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 305.099976 m,
      bearing: 330.131349 deg,
      approach rate: -0.590450 m/s,
      LOS rate: 0.002189 deg/s,
      cmd heading: 332.908311 deg,
      new cmd heading: 332.910691 deg.

2025-10-25T03:57:14.244Z,1761364634.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810388 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:14.454Z,1761364634.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528226
2025-10-25T03:57:14.605Z,1761364634.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886811,0.443111,-0.131220],[-0.451338,0.891461,-0.039897],[0.099299,0.094606,0.990550]]
2025-10-25T03:57:14.625Z,1761364634.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:14.628Z,1761364634.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 304.862762 m,
      bearing: 330.132314 deg,
      approach rate: -0.588602 m/s,
      LOS rate: 0.002397 deg/s,
      cmd heading: 332.910687 deg,
      new cmd heading: 332.913585 deg.

2025-10-25T03:57:14.629Z,1761364634.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810438 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:14.708Z,1761364634.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782328
2025-10-25T03:57:14.958Z,1761364634.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032129
2025-10-25T03:57:15.027Z,1761364635.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885830,0.445528,-0.129657],[-0.453477,0.890437,-0.038477],[0.098308,0.092880,0.990812]]
2025-10-25T03:57:15.078Z,1761364635.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:15.082Z,1761364635.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 304.590729 m,
      bearing: 330.133595 deg,
      approach rate: -0.600215 m/s,
      LOS rate: 0.002829 deg/s,
      cmd heading: 332.913583 deg,
      new cmd heading: 332.917431 deg.

2025-10-25T03:57:15.083Z,1761364635.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810505 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:15.210Z,1761364635.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284795
2025-10-25T03:57:15.412Z,1761364635.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885035,0.447614,-0.127888],[-0.455280,0.889572,-0.037168],[0.097129,0.091120,0.991092]]
2025-10-25T03:57:15.447Z,1761364635.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:15.455Z,1761364635.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 304.377380 m,
      bearing: 330.134684 deg,
      approach rate: -0.578479 m/s,
      LOS rate: 0.002953 deg/s,
      cmd heading: 332.917436 deg,
      new cmd heading: 332.920703 deg.

2025-10-25T03:57:15.455Z,1761364635.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810563 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:15.462Z,1761364635.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536219
2025-10-25T03:57:15.717Z,1761364635.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791605
2025-10-25T03:57:15.859Z,1761364635.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884559,0.448889,-0.126703],[-0.456449,0.888974,-0.037136],[0.095966,0.090683,0.991245]]
2025-10-25T03:57:15.911Z,1761364635.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:15.914Z,1761364635.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:15.918Z,1761364635.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 304.091187 m,
      bearing: 330.136292 deg,
      approach rate: -0.613728 m/s,
      LOS rate: 0.003453 deg/s,
      cmd heading: 332.920714 deg,
      new cmd heading: 332.925544 deg.

2025-10-25T03:57:15.919Z,1761364635.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810647 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:15.967Z,1761364635.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041899
2025-10-25T03:57:16.218Z,1761364636.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292137
2025-10-25T03:57:16.272Z,1761364636.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884084,0.449952,-0.126247],[-0.457595,0.888331,-0.038391],[0.094876,0.091711,0.991256]]
2025-10-25T03:57:16.341Z,1761364636.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:16.351Z,1761364636.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 303.854462 m,
      bearing: 330.137679 deg,
      approach rate: -0.559744 m/s,
      LOS rate: 0.003282 deg/s,
      cmd heading: 332.925550 deg,
      new cmd heading: 332.929713 deg.

2025-10-25T03:57:16.352Z,1761364636.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810719 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:16.470Z,1761364636.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.544166
2025-10-25T03:57:16.728Z,1761364636.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802485
2025-10-25T03:57:16.827Z,1761364636.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883882,0.450128,-0.127035],[-0.458060,0.887993,-0.040619],[0.094523,0.094092,0.991066]]
2025-10-25T03:57:16.953Z,1761364636.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:16.956Z,1761364636.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 303.497955 m,
      bearing: 330.139290 deg,
      approach rate: -0.578026 m/s,
      LOS rate: 0.002614 deg/s,
      cmd heading: 332.929703 deg,
      new cmd heading: 332.934540 deg.

2025-10-25T03:57:16.966Z,1761364636.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810804 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:16.978Z,1761364636.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052157
2025-10-25T03:57:17.232Z,1761364637.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306313
2025-10-25T03:57:17.321Z,1761364637.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884210,0.449247,-0.127862],[-0.457344,0.888318,-0.041563],[0.094911,0.095227,0.990921]]
2025-10-25T03:57:17.363Z,1761364637.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:17.370Z,1761364637.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 303.236450 m,
      bearing: 330.140433 deg,
      approach rate: -0.638045 m/s,
      LOS rate: 0.002793 deg/s,
      cmd heading: 332.934538 deg,
      new cmd heading: 332.937973 deg.

2025-10-25T03:57:17.371Z,1761364637.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810864 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:17.482Z,1761364637.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556786
2025-10-25T03:57:17.737Z,1761364637.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810712
2025-10-25T03:57:17.831Z,1761364637.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:17.835Z,1761364637.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 302.953308 m,
      bearing: 330.141310 deg,
      approach rate: -0.605610 m/s,
      LOS rate: 0.001877 deg/s,
      cmd heading: 332.937981 deg,
      new cmd heading: 332.940613 deg.

2025-10-25T03:57:17.836Z,1761364637.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810910 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:17.985Z,1761364637.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060087
2025-10-25T03:57:18.121Z,1761364638.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884709,0.447148,-0.131716],[-0.456046,0.888768,-0.045984],[0.096503,0.100751,0.990220]]
2025-10-25T03:57:18.139Z,1761364638.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:18.141Z,1761364638.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:18.144Z,1761364638.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 302.775513 m,
      bearing: 330.141813 deg,
      approach rate: -0.572219 m/s,
      LOS rate: 0.001620 deg/s,
      cmd heading: 332.940604 deg,
      new cmd heading: 332.942114 deg.

2025-10-25T03:57:18.166Z,1761364638.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810936 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:18.238Z,1761364638.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312998
2025-10-25T03:57:18.490Z,1761364638.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564128
2025-10-25T03:57:18.525Z,1761364638.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884731,0.446693,-0.133108],[-0.455807,0.888850,-0.046757],[0.097427,0.102039,0.989998]]
2025-10-25T03:57:18.564Z,1761364638.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:18.571Z,1761364638.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 302.542664 m,
      bearing: 330.142463 deg,
      approach rate: -0.551144 m/s,
      LOS rate: 0.001538 deg/s,
      cmd heading: 332.942106 deg,
      new cmd heading: 332.944056 deg.

2025-10-25T03:57:18.572Z,1761364638.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810970 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:18.748Z,1761364638.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.821786
2025-10-25T03:57:18.931Z,1761364638.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884773,0.446397,-0.133812],[-0.455586,0.888962,-0.046784],[0.098070,0.102356,0.989902]]
2025-10-25T03:57:18.971Z,1761364638.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:18.993Z,1761364638.993 [DAT](INFO): Reached modem response timeout
2025-10-25T03:57:18.994Z,1761364638.994 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:18.994Z,1761364638.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:18.998Z,1761364638.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 302.303375 m,
      bearing: 330.142026 deg,
      approach rate: -0.587967 m/s,
      LOS rate: -0.001075 deg/s,
      cmd heading: 332.944046 deg,
      new cmd heading: 332.942734 deg.

2025-10-25T03:57:18.000Z,1761364639.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810947 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:19.245Z,1761364639.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:19.342Z,1761364639.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884537,0.446636,-0.134575],[-0.455880,0.888825,-0.046523],[0.098834,0.102501,0.989811]]
2025-10-25T03:57:19.360Z,1761364639.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:19.379Z,1761364639.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 302.084320 m,
      bearing: 330.141641 deg,
      approach rate: -0.563021 m/s,
      LOS rate: -0.000990 deg/s,
      cmd heading: 332.942735 deg,
      new cmd heading: 332.941579 deg.

2025-10-25T03:57:19.380Z,1761364639.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810927 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:19.498Z,1761364639.498 [DAT](DEBUG): Acoustic response timeout
2025-10-25T03:57:19.740Z,1761364639.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884260,0.446980,-0.135252],[-0.456244,0.888665,-0.046006],[0.099630,0.102389,0.989743]]
2025-10-25T03:57:19.754Z,1761364639.754 [DAT](INFO): DAT read: Response Not Received

2025-10-25T03:57:19.754Z,1761364639.754 [DAT](INFO): response not received
2025-10-25T03:57:19.756Z,1761364639.756 [DAT](INFO): DAT read: user:211>

2025-10-25T03:57:19.785Z,1761364639.785 [DAT](INFO): DAT read: Tx time:03:57:19.3204

2025-10-25T03:57:19.786Z,1761364639.786 [DAT](INFO): Ping request sent.
2025-10-25T03:57:19.786Z,1761364639.786 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:19.787Z,1761364639.787 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:19.806Z,1761364639.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.019953
2025-10-25T03:57:19.841Z,1761364639.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:19.844Z,1761364639.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 301.832520 m,
      bearing: 330.141219 deg,
      approach rate: -0.532971 m/s,
      LOS rate: -0.000893 deg/s,
      cmd heading: 332.941587 deg,
      new cmd heading: 332.940321 deg.

2025-10-25T03:57:19.849Z,1761364639.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810905 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:20.002Z,1761364640.002 [DAT](INFO): DAT read: TxSync time:03:57:19.3196

2025-10-25T03:57:20.003Z,1761364640.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.217012
2025-10-25T03:57:20.142Z,1761364640.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883946,0.447472,-0.135677],[-0.456628,0.888545,-0.044489],[0.100648,0.101280,0.989754]]
2025-10-25T03:57:20.190Z,1761364640.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:20.192Z,1761364640.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:20.195Z,1761364640.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 301.628479 m,
      bearing: 330.140341 deg,
      approach rate: -0.567060 m/s,
      LOS rate: -0.002441 deg/s,
      cmd heading: 332.940330 deg,
      new cmd heading: 332.937695 deg.

2025-10-25T03:57:20.196Z,1761364640.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810859 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:20.255Z,1761364640.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.468821
2025-10-25T03:57:20.506Z,1761364640.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.719938
2025-10-25T03:57:20.544Z,1761364640.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883283,0.449181,-0.134341],[-0.457429,0.888482,-0.036846],[0.102809,0.093997,0.990250]]
2025-10-25T03:57:20.580Z,1761364640.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:20.584Z,1761364640.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 301.421387 m,
      bearing: 330.139487 deg,
      approach rate: -0.533772 m/s,
      LOS rate: -0.002204 deg/s,
      cmd heading: 332.937708 deg,
      new cmd heading: 332.935143 deg.

2025-10-25T03:57:20.585Z,1761364640.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810814 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:20.761Z,1761364640.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974997
2025-10-25T03:57:20.952Z,1761364640.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883807,0.448384,-0.133555],[-0.456301,0.889159,-0.034423],[0.103317,0.091365,0.990443]]
2025-10-25T03:57:20.991Z,1761364640.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:20.994Z,1761364640.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 301.209259 m,
      bearing: 330.138005 deg,
      approach rate: -0.515868 m/s,
      LOS rate: -0.003606 deg/s,
      cmd heading: 332.935140 deg,
      new cmd heading: 332.930691 deg.

2025-10-25T03:57:20.995Z,1761364640.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810737 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:21.010Z,1761364641.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223937
2025-10-25T03:57:21.262Z,1761364641.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475993
2025-10-25T03:57:21.352Z,1761364641.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884253,0.447184,-0.134620],[-0.455398,0.889545,-0.036370],[0.103486,0.093466,0.990230]]
2025-10-25T03:57:21.397Z,1761364641.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:21.400Z,1761364641.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 300.999390 m,
      bearing: 330.136496 deg,
      approach rate: -0.517343 m/s,
      LOS rate: -0.003721 deg/s,
      cmd heading: 332.930686 deg,
      new cmd heading: 332.926158 deg.

2025-10-25T03:57:21.401Z,1761364641.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810658 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:21.514Z,1761364641.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727943
2025-10-25T03:57:21.767Z,1761364641.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981128
2025-10-25T03:57:21.830Z,1761364641.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885127,0.445398,-0.134802],[-0.453854,0.890238,-0.038636],[0.102797,0.095379,0.990119]]
2025-10-25T03:57:21.898Z,1761364641.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:21.930Z,1761364641.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 300.741272 m,
      bearing: 330.134098 deg,
      approach rate: -0.515511 m/s,
      LOS rate: -0.004794 deg/s,
      cmd heading: 332.926151 deg,
      new cmd heading: 332.918950 deg.

2025-10-25T03:57:21.941Z,1761364641.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810532 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:22.018Z,1761364642.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232160
2025-10-25T03:57:22.210Z,1761364642.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885381,0.445096,-0.134127],[-0.453519,0.890394,-0.038969],[0.102082,0.095331,0.990198]]
2025-10-25T03:57:22.229Z,1761364642.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:22.231Z,1761364642.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:22.235Z,1761364642.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 300.569733 m,
      bearing: 330.132488 deg,
      approach rate: -0.515033 m/s,
      LOS rate: -0.004836 deg/s,
      cmd heading: 332.918938 deg,
      new cmd heading: 332.914106 deg.

2025-10-25T03:57:22.236Z,1761364642.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810447 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:22.270Z,1761364642.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484015
2025-10-25T03:57:22.522Z,1761364642.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735934
2025-10-25T03:57:22.615Z,1761364642.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885129,0.445668,-0.133887],[-0.454053,0.890130,-0.038788],[0.101890,0.095124,0.990237]]
2025-10-25T03:57:22.635Z,1761364642.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:22.638Z,1761364642.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 300.361908 m,
      bearing: 330.130559 deg,
      approach rate: -0.514373 m/s,
      LOS rate: -0.004778 deg/s,
      cmd heading: 332.914103 deg,
      new cmd heading: 332.908311 deg.

2025-10-25T03:57:22.643Z,1761364642.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810346 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:22.774Z,1761364642.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987896
2025-10-25T03:57:23.017Z,1761364643.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884771,0.446415,-0.133769],[-0.454752,0.889790,-0.038390],[0.101889,0.094798,0.990269]]
2025-10-25T03:57:23.026Z,1761364643.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239895
2025-10-25T03:57:23.094Z,1761364643.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:23.102Z,1761364643.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 300.127167 m,
      bearing: 330.129183 deg,
      approach rate: -0.510820 m/s,
      LOS rate: -0.002998 deg/s,
      cmd heading: 332.908311 deg,
      new cmd heading: 332.904178 deg.

2025-10-25T03:57:23.103Z,1761364643.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810274 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:23.105Z,1761364643.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:57:23.278Z,1761364643.278 [DAT](INFO): DAT read: Rx Time:03:57:22.1630

2025-10-25T03:57:23.278Z,1761364643.278 [DAT](INFO): Rx dataTimestamp_ set to:1761364643.278063
2025-10-25T03:57:23.279Z,1761364643.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493386
2025-10-25T03:57:23.437Z,1761364643.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884051,0.447702,-0.134225],[-0.456069,0.889125,-0.038177],[0.102251,0.094966,0.990215]]
2025-10-25T03:57:23.471Z,1761364643.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.31 m.
2025-10-25T03:57:23.480Z,1761364643.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.313538 m,
      nav range: 299.935730 m,
      bearing: 330.128114 deg,
      approach rate: -0.508484 m/s,
      LOS rate: -0.002841 deg/s,
      cmd heading: 332.904185 deg,
      new cmd heading: 332.900976 deg.

2025-10-25T03:57:23.485Z,1761364643.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810218 target range: 324.313538 and range: 325.60 m.
2025-10-25T03:57:23.531Z,1761364643.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745043
2025-10-25T03:57:23.792Z,1761364643.792 [DAT](INFO): DAT read: 03:57:22.1630 LVL= 18704, 25585, 16050, 26659, AGC= 69, IDX= 199,-0.32,-0.362,-1.898,-0.308,-1.160, PHS= 0.886,-0.692, 0.849, RAW= 148.8, -13.3, CAL= 155.7, -21.1, ROT= 354.3,  21.1

2025-10-25T03:57:23.795Z,1761364643.795 [DAT](INFO): got valid direction response:
 03:57:22.1630 LVL= 18704, 25585, 16050, 26659, AGC= 69, IDX= 199,-0.32,-0.362,-1.898,-0.308,-1.160, PHS= 0.886,-0.692, 0.849, RAW= 148.8, -13.3, CAL= 155.7, -21.1, ROT= 354.3,  21.1

2025-10-25T03:57:23.796Z,1761364643.796 [DAT](INFO): DAT read: Bearing 354.3,  21.1 (Local)

2025-10-25T03:57:23.797Z,1761364643.797 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,  21.1 (Local)

2025-10-25T03:57:23.799Z,1761364643.799 [DAT](INFO): DAT read: Range 10 to 50 : 328.8 m  (Round-trip  438.5 ms) speed  0.4 m/s

2025-10-25T03:57:23.800Z,1761364643.800 [DAT](INFO): DAT read: user:212>

2025-10-25T03:57:23.801Z,1761364643.801 [DAT](INFO): DAT read: Tx time:03:57:23.2704

2025-10-25T03:57:23.801Z,1761364643.801 [DAT](INFO): Ping request sent.
2025-10-25T03:57:23.801Z,1761364643.801 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:23.802Z,1761364643.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:23.803Z,1761364643.803 [DAT](INFO): direction in FSK: [0.928341,-0.092661,-0.359997]
2025-10-25T03:57:23.803Z,1761364643.803 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:23.803Z,1761364643.803 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:23.807Z,1761364643.807 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:23.808Z,1761364643.808 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:23.924Z,1761364643.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883345,0.449079,-0.134276],[-0.457371,0.888492,-0.037337],[0.102535,0.094395,0.990240]]
2025-10-25T03:57:24.035Z,1761364644.035 [DAT](INFO): DAT read: TxSync time:03:57:23.2696

2025-10-25T03:57:24.076Z,1761364644.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.799988 m,
      deltaT: 14.875458 s,
      deltaX: 3.199982 m,
      approachRate: 0.215118 m/s,
      rangeRepo size: 4

2025-10-25T03:57:24.084Z,1761364644.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 327.500397 m,
      bearing: 329.167899 deg,
      lat: 36.779411 deg,
      lon: -121.859935 deg,
      deltaT: 14.875458 s,
      deltaX: 3.186859 m,
      approachRate: 0.214236 m/s,
      posRepo size: 4

2025-10-25T03:57:24.097Z,1761364644.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:24.105Z,1761364644.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 307.502075 m,
      bearing: 330.059785 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002841 deg/s,
      cmd heading: 332.900989 deg,
      new cmd heading: 332.895835 deg.

2025-10-25T03:57:24.106Z,1761364644.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810128 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:24.109Z,1761364644.109 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:57:24.521Z,1761364644.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881939,0.451427,-0.135636],[-0.459737,0.887320,-0.036125],[0.104044,0.094217,0.990100]]
2025-10-25T03:57:24.566Z,1761364644.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:24.568Z,1761364644.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:24.575Z,1761364644.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 307.236816 m,
      bearing: 330.059678 deg,
      approach rate: -0.538395 m/s,
      LOS rate: -0.000217 deg/s,
      cmd heading: 332.895825 deg,
      new cmd heading: 332.895504 deg.

2025-10-25T03:57:24.576Z,1761364644.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810122 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:24.790Z,1761364644.790 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:24.791Z,1761364644.791 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:24.792Z,1761364644.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:24.975Z,1761364644.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880081,0.454658,-0.136909],[-0.462883,0.885768,-0.033986],[0.105818,0.093284,0.990000]]
2025-10-25T03:57:25.042Z,1761364645.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240318
2025-10-25T03:57:25.043Z,1761364645.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:25.054Z,1761364645.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 306.979370 m,
      bearing: 330.061622 deg,
      approach rate: -0.542524 m/s,
      LOS rate: 0.004100 deg/s,
      cmd heading: 332.895497 deg,
      new cmd heading: 332.901334 deg.

2025-10-25T03:57:25.055Z,1761364645.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810225 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:25.294Z,1761364645.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492632
2025-10-25T03:57:25.375Z,1761364645.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878812,0.456478,-0.138990],[-0.464685,0.884902,-0.031890],[0.108435,0.092611,0.989780]]
2025-10-25T03:57:25.406Z,1761364645.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:25.414Z,1761364645.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 306.768524 m,
      bearing: 330.063306 deg,
      approach rate: -0.602772 m/s,
      LOS rate: 0.004816 deg/s,
      cmd heading: 332.901344 deg,
      new cmd heading: 332.906398 deg.

2025-10-25T03:57:25.415Z,1761364645.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810313 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:25.547Z,1761364645.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746067
2025-10-25T03:57:25.781Z,1761364645.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878297,0.457204,-0.139852],[-0.465346,0.884602,-0.030521],[0.109759,0.091886,0.989702]]
2025-10-25T03:57:25.802Z,1761364645.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999904
2025-10-25T03:57:25.808Z,1761364645.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:25.810Z,1761364645.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 306.541748 m,
      bearing: 330.065156 deg,
      approach rate: -0.546359 m/s,
      LOS rate: 0.004462 deg/s,
      cmd heading: 332.906398 deg,
      new cmd heading: 332.911954 deg.

2025-10-25T03:57:25.811Z,1761364645.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810410 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:26.050Z,1761364646.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248752
2025-10-25T03:57:26.253Z,1761364646.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:26.255Z,1761364646.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 306.290649 m,
      bearing: 330.068189 deg,
      approach rate: -0.592237 m/s,
      LOS rate: 0.007158 deg/s,
      cmd heading: 332.911944 deg,
      new cmd heading: 332.921048 deg.

2025-10-25T03:57:26.256Z,1761364646.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810568 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:26.302Z,1761364646.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500801
2025-10-25T03:57:26.554Z,1761364646.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752185
2025-10-25T03:57:26.591Z,1761364646.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877344,0.457794,-0.143845],[-0.466211,0.884179,-0.029587],[0.113640,0.093020,0.989158]]
2025-10-25T03:57:26.628Z,1761364646.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:26.630Z,1761364646.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:26.634Z,1761364646.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 306.070160 m,
      bearing: 330.070904 deg,
      approach rate: -0.553161 m/s,
      LOS rate: 0.006816 deg/s,
      cmd heading: 332.921042 deg,
      new cmd heading: 332.929193 deg.

2025-10-25T03:57:26.635Z,1761364646.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810710 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:26.805Z,1761364646.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004165
2025-10-25T03:57:27.058Z,1761364647.058 [DAT](INFO): DAT read: Rx Time:03:57:26.0955

2025-10-25T03:57:27.058Z,1761364647.058 [DAT](INFO): Rx dataTimestamp_ set to:1761364647.057886
2025-10-25T03:57:27.059Z,1761364647.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257387
2025-10-25T03:57:27.066Z,1761364647.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:27.070Z,1761364647.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 305.799194 m,
      bearing: 330.074341 deg,
      approach rate: -0.623440 m/s,
      LOS rate: 0.007915 deg/s,
      cmd heading: 332.929184 deg,
      new cmd heading: 332.939504 deg.

2025-10-25T03:57:27.070Z,1761364647.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810891 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:27.310Z,1761364647.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508996
2025-10-25T03:57:27.407Z,1761364647.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875894,0.457974,-0.151884],[-0.466855,0.883921,-0.027014],[0.121882,0.094570,0.988029]]
2025-10-25T03:57:27.438Z,1761364647.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.50 m.
2025-10-25T03:57:27.440Z,1761364647.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.500397 m,
      nav range: 305.566742 m,
      bearing: 330.077349 deg,
      approach rate: -0.623483 m/s,
      LOS rate: 0.008075 deg/s,
      cmd heading: 332.939511 deg,
      new cmd heading: 332.948542 deg.

2025-10-25T03:57:27.441Z,1761364647.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811049 target range: 327.500397 and range: 328.80 m.
2025-10-25T03:57:27.576Z,1761364647.576 [DAT](INFO): DAT read: 03:57:26.0955 LVL= 21680, 19265, 20210, 31619, AGC= 65, IDX= 257,-0.43,-2.071, 2.918,-2.015,-2.768, PHS= 0.785,-0.550, 0.750, RAW= 148.7, -14.8, CAL= 155.2, -22.5, ROT= 354.8,  22.5

2025-10-25T03:57:27.579Z,1761364647.579 [DAT](INFO): got valid direction response:
 03:57:26.0955 LVL= 21680, 19265, 20210, 31619, AGC= 65, IDX= 257,-0.43,-2.071, 2.918,-2.015,-2.768, PHS= 0.785,-0.550, 0.750, RAW= 148.7, -14.8, CAL= 155.2, -22.5, ROT= 354.8,  22.5

2025-10-25T03:57:27.581Z,1761364647.581 [DAT](INFO): DAT read: Bearing 354.8,  22.5 (Local)

2025-10-25T03:57:27.582Z,1761364647.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  22.5 (Local)

2025-10-25T03:57:27.601Z,1761364647.601 [DAT](INFO): DAT read: Range 10 to 50 : 315.6 m  (Round-trip  420.8 ms) speed  0.4 m/s

2025-10-25T03:57:27.602Z,1761364647.602 [DAT](INFO): DAT read: user:213>

2025-10-25T03:57:27.603Z,1761364647.603 [DAT](INFO): DAT read: Tx time:03:57:27.2205

2025-10-25T03:57:27.603Z,1761364647.603 [DAT](INFO): Ping request sent.
2025-10-25T03:57:27.603Z,1761364647.603 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:27.604Z,1761364647.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:27.611Z,1761364647.611 [DAT](INFO): direction in FSK: [0.920077,-0.083734,-0.382683]
2025-10-25T03:57:27.611Z,1761364647.611 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:27.612Z,1761364647.612 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:27.619Z,1761364647.619 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:27.619Z,1761364647.619 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:27.800Z,1761364647.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875860,0.457046,-0.154846],[-0.466097,0.884347,-0.026144],[0.124989,0.095072,0.987593]]
2025-10-25T03:57:27.814Z,1761364647.814 [DAT](INFO): DAT read: TxSync time:03:57:27.2197

2025-10-25T03:57:27.866Z,1761364647.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.600006 m,
      deltaT: 3.781694 s,
      deltaX: -13.199982 m,
      approachRate: -3.490494 m/s,
      rangeRepo size: 4

2025-10-25T03:57:27.881Z,1761364647.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.336853 m,
      bearing: 329.200469 deg,
      lat: 36.779411 deg,
      lon: -121.859935 deg,
      deltaT: 3.781694 s,
      deltaX: -13.163544 m,
      approachRate: -3.480859 m/s,
      posRepo size: 4

2025-10-25T03:57:27.884Z,1761364647.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:27.908Z,1761364647.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 305.330414 m,
      bearing: 330.080383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008075 deg/s,
      cmd heading: 332.948554 deg,
      new cmd heading: 332.958698 deg.

2025-10-25T03:57:27.922Z,1761364647.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811225 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:28.207Z,1761364648.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875802,0.454924,-0.161290],[-0.465185,0.884682,-0.030677],[0.128735,0.101897,0.986430]]
2025-10-25T03:57:28.273Z,1761364648.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:28.276Z,1761364648.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 305.073364 m,
      bearing: 330.084622 deg,
      approach rate: -0.616523 m/s,
      LOS rate: 0.010177 deg/s,
      cmd heading: 332.958690 deg,
      new cmd heading: 332.971419 deg.

2025-10-25T03:57:28.283Z,1761364648.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811448 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:28.617Z,1761364648.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875478,0.453937,-0.165768],[-0.465012,0.884678,-0.033295],[0.131538,0.106233,0.985602]]
2025-10-25T03:57:28.635Z,1761364648.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:28.637Z,1761364648.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:28.640Z,1761364648.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 304.837463 m,
      bearing: 330.088516 deg,
      approach rate: -0.648078 m/s,
      LOS rate: 0.010706 deg/s,
      cmd heading: 332.971422 deg,
      new cmd heading: 332.983112 deg.

2025-10-25T03:57:28.641Z,1761364648.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811652 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:28.821Z,1761364648.821 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:28.821Z,1761364648.821 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:28.822Z,1761364648.822 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:29.010Z,1761364649.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874272,0.455222,-0.168587],[-0.466393,0.884012,-0.031629],[0.134635,0.106280,0.985179]]
2025-10-25T03:57:29.050Z,1761364649.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:29.053Z,1761364649.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 304.592499 m,
      bearing: 330.092340 deg,
      approach rate: -0.593445 m/s,
      LOS rate: 0.009272 deg/s,
      cmd heading: 332.983115 deg,
      new cmd heading: 332.994596 deg.

2025-10-25T03:57:29.054Z,1761364649.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811852 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:29.073Z,1761364649.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470270
2025-10-25T03:57:29.326Z,1761364649.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722396
2025-10-25T03:57:29.413Z,1761364649.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873586,0.455525,-0.171303],[-0.466902,0.883768,-0.030944],[0.137296,0.107014,0.984732]]
2025-10-25T03:57:29.453Z,1761364649.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:29.456Z,1761364649.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 304.365173 m,
      bearing: 330.095930 deg,
      approach rate: -0.594184 m/s,
      LOS rate: 0.009389 deg/s,
      cmd heading: 332.994590 deg,
      new cmd heading: 333.005366 deg.

2025-10-25T03:57:29.457Z,1761364649.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812040 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:29.579Z,1761364649.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976029
2025-10-25T03:57:29.817Z,1761364649.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873607,0.454779,-0.173168],[-0.466038,0.884299,-0.028721],[0.140071,0.105794,0.984473]]
2025-10-25T03:57:29.830Z,1761364649.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226457
2025-10-25T03:57:29.840Z,1761364649.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:29.858Z,1761364649.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 304.126831 m,
      bearing: 330.099666 deg,
      approach rate: -0.589756 m/s,
      LOS rate: 0.009253 deg/s,
      cmd heading: 333.005354 deg,
      new cmd heading: 333.016572 deg.

2025-10-25T03:57:29.859Z,1761364649.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812236 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:30.083Z,1761364650.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479467
2025-10-25T03:57:30.221Z,1761364650.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873673,0.453794,-0.175405],[-0.465170,0.884781,-0.027928],[0.142521,0.105993,0.984100]]
2025-10-25T03:57:30.275Z,1761364650.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:30.278Z,1761364650.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 303.874695 m,
      bearing: 330.102012 deg,
      approach rate: -0.575613 m/s,
      LOS rate: 0.005361 deg/s,
      cmd heading: 333.016583 deg,
      new cmd heading: 333.023628 deg.

2025-10-25T03:57:30.279Z,1761364650.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812359 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:30.335Z,1761364650.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731802
2025-10-25T03:57:30.586Z,1761364650.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982518
2025-10-25T03:57:30.623Z,1761364650.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874235,0.451885,-0.177519],[-0.463446,0.885690,-0.027773],[0.144676,0.106550,0.983725]]
2025-10-25T03:57:30.673Z,1761364650.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:30.675Z,1761364650.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:30.678Z,1761364650.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 303.657471 m,
      bearing: 330.103964 deg,
      approach rate: -0.542786 m/s,
      LOS rate: 0.004881 deg/s,
      cmd heading: 333.023631 deg,
      new cmd heading: 333.029492 deg.

2025-10-25T03:57:30.679Z,1761364650.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812461 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:30.838Z,1761364650.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234462
2025-10-25T03:57:31.090Z,1761364651.090 [DAT](INFO): DAT read: Rx Time:03:57:30.0428

2025-10-25T03:57:31.090Z,1761364651.090 [DAT](INFO): Rx dataTimestamp_ set to:1761364651.090116
2025-10-25T03:57:31.091Z,1761364651.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487833
2025-10-25T03:57:31.101Z,1761364651.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:31.104Z,1761364651.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 303.415619 m,
      bearing: 330.104237 deg,
      approach rate: -0.568336 m/s,
      LOS rate: 0.000641 deg/s,
      cmd heading: 333.029478 deg,
      new cmd heading: 333.030296 deg.

2025-10-25T03:57:31.105Z,1761364651.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812475 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:31.342Z,1761364651.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738643
2025-10-25T03:57:31.435Z,1761364651.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875419,0.448128,-0.181171],[-0.460007,0.887488,-0.027548],[0.148442,0.107456,0.983066]]
2025-10-25T03:57:31.455Z,1761364651.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.34 m.
2025-10-25T03:57:31.458Z,1761364651.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.336853 m,
      nav range: 303.219971 m,
      bearing: 330.104325 deg,
      approach rate: -0.552370 m/s,
      LOS rate: 0.000248 deg/s,
      cmd heading: 333.030298 deg,
      new cmd heading: 333.030562 deg.

2025-10-25T03:57:31.459Z,1761364651.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812480 target range: 314.336853 and range: 315.60 m.
2025-10-25T03:57:31.600Z,1761364651.600 [DAT](INFO): DAT read: 03:57:30.0428 LVL= 16464, 21201, 15410, 25331, AGC= 67, IDX= 406,-0.24, 2.058, 0.751, 2.158, 1.229, PHS= 0.918,-0.431, 0.926, RAW= 150.3, -20.3, CAL= 155.6, -27.2, ROT= 354.4,  27.2

2025-10-25T03:57:31.601Z,1761364651.601 [DAT](INFO): got valid direction response:
 03:57:30.0428 LVL= 16464, 21201, 15410, 25331, AGC= 67, IDX= 406,-0.24, 2.058, 0.751, 2.158, 1.229, PHS= 0.918,-0.431, 0.926, RAW= 150.3, -20.3, CAL= 155.6, -27.2, ROT= 354.4,  27.2

2025-10-25T03:57:31.603Z,1761364651.603 [DAT](INFO): DAT read: Bearing 354.4,  27.2 (Local)

2025-10-25T03:57:31.603Z,1761364651.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  27.2 (Local)

2025-10-25T03:57:31.606Z,1761364651.606 [DAT](INFO): DAT read: Range 10 to 50 : 313.6 m  (Round-trip  418.2 ms) speed  0.4 m/s

2025-10-25T03:57:31.607Z,1761364651.607 [DAT](INFO): DAT read: user:214>

2025-10-25T03:57:31.608Z,1761364651.608 [DAT](INFO): DAT read: Tx time:03:57:31.1705

2025-10-25T03:57:31.610Z,1761364651.610 [DAT](INFO): Ping request sent.
2025-10-25T03:57:31.610Z,1761364651.610 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:31.611Z,1761364651.611 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:31.613Z,1761364651.613 [DAT](INFO): direction in FSK: [0.885172,-0.086792,-0.457098]
2025-10-25T03:57:31.614Z,1761364651.614 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:31.614Z,1761364651.614 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:31.618Z,1761364651.618 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:31.618Z,1761364651.618 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:31.836Z,1761364651.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876006,0.446288,-0.182868],[-0.458341,0.888347,-0.027621],[0.150123,0.108012,0.982749]]
2025-10-25T03:57:31.846Z,1761364651.846 [DAT](INFO): DAT read: TxSync time:03:57:31.1697

2025-10-25T03:57:31.898Z,1761364651.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.600006 m,
      deltaT: 4.031048 s,
      deltaX: -2.000000 m,
      approachRate: -0.496149 m/s,
      rangeRepo size: 4

2025-10-25T03:57:31.905Z,1761364651.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.320618 m,
      bearing: 330.178285 deg,
      lat: 36.779411 deg,
      lon: -121.859935 deg,
      deltaT: 4.031048 s,
      deltaX: -2.016235 m,
      approachRate: -0.500176 m/s,
      posRepo size: 4

2025-10-25T03:57:31.906Z,1761364651.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:31.977Z,1761364651.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 302.993286 m,
      bearing: 330.104352 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000248 deg/s,
      cmd heading: 333.030571 deg,
      new cmd heading: 333.030897 deg.

2025-10-25T03:57:31.986Z,1761364651.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812486 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:32.304Z,1761364652.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875607,0.447758,-0.181175],[-0.458107,0.888723,-0.017601],[0.153133,0.098409,0.983293]]
2025-10-25T03:57:32.375Z,1761364652.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:32.383Z,1761364652.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 302.736511 m,
      bearing: 330.102179 deg,
      approach rate: -0.532095 m/s,
      LOS rate: -0.004507 deg/s,
      cmd heading: 333.030899 deg,
      new cmd heading: 333.024374 deg.

2025-10-25T03:57:32.384Z,1761364652.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812372 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:32.699Z,1761364652.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875069,0.451124,-0.175331],[-0.458548,0.888667,-0.002067],[0.154878,0.082206,0.984507]]
2025-10-25T03:57:32.719Z,1761364652.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:32.737Z,1761364652.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:32.739Z,1761364652.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 302.546753 m,
      bearing: 330.100589 deg,
      approach rate: -0.548996 m/s,
      LOS rate: -0.004602 deg/s,
      cmd heading: 333.024369 deg,
      new cmd heading: 333.019597 deg.

2025-10-25T03:57:32.745Z,1761364652.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812288 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:32.853Z,1761364652.853 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:32.853Z,1761364652.853 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:32.854Z,1761364652.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:33.106Z,1761364653.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495811
2025-10-25T03:57:33.107Z,1761364653.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875298,0.449972,-0.177141],[-0.457537,0.889188,-0.002098],[0.156568,0.082885,0.984183]]
2025-10-25T03:57:33.172Z,1761364653.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:33.179Z,1761364653.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 302.325684 m,
      bearing: 330.097218 deg,
      approach rate: -0.489531 m/s,
      LOS rate: -0.007470 deg/s,
      cmd heading: 333.019588 deg,
      new cmd heading: 333.009467 deg.

2025-10-25T03:57:33.180Z,1761364653.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812112 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:33.363Z,1761364653.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752620
2025-10-25T03:57:33.610Z,1761364653.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999740
2025-10-25T03:57:33.634Z,1761364653.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:33.637Z,1761364653.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 302.075531 m,
      bearing: 330.093398 deg,
      approach rate: -0.541715 m/s,
      LOS rate: -0.008280 deg/s,
      cmd heading: 333.009479 deg,
      new cmd heading: 332.998009 deg.

2025-10-25T03:57:33.638Z,1761364653.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811912 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:33.862Z,1761364653.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252595
2025-10-25T03:57:34.104Z,1761364654.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:34.107Z,1761364654.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 301.833984 m,
      bearing: 330.090651 deg,
      approach rate: -0.513949 m/s,
      LOS rate: -0.005848 deg/s,
      cmd heading: 332.998005 deg,
      new cmd heading: 332.989759 deg.

2025-10-25T03:57:34.108Z,1761364654.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811768 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:34.114Z,1761364654.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503890
2025-10-25T03:57:34.367Z,1761364654.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757006
2025-10-25T03:57:34.535Z,1761364654.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878070,0.441475,-0.184640],[-0.450113,0.892955,-0.005488],[0.162452,0.087928,0.982791]]
2025-10-25T03:57:34.553Z,1761364654.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:34.555Z,1761364654.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 301.602173 m,
      bearing: 330.087648 deg,
      approach rate: -0.516653 m/s,
      LOS rate: -0.006699 deg/s,
      cmd heading: 332.989754 deg,
      new cmd heading: 332.980737 deg.

2025-10-25T03:57:34.556Z,1761364654.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811610 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:34.618Z,1761364654.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007914
2025-10-25T03:57:34.870Z,1761364654.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259849
2025-10-25T03:57:34.955Z,1761364654.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879644,0.437485,-0.186638],[-0.446720,0.894634,-0.008390],[0.163302,0.090755,0.982393]]
2025-10-25T03:57:35.038Z,1761364655.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:35.040Z,1761364655.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:35.047Z,1761364655.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 301.373047 m,
      bearing: 330.084503 deg,
      approach rate: -0.470199 m/s,
      LOS rate: -0.006459 deg/s,
      cmd heading: 332.980738 deg,
      new cmd heading: 332.971295 deg.

2025-10-25T03:57:35.053Z,1761364655.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811445 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:35.122Z,1761364655.122 [DAT](INFO): DAT read: Rx Time:03:57:34.0053

2025-10-25T03:57:35.122Z,1761364655.122 [DAT](INFO): Rx dataTimestamp_ set to:1761364655.122088
2025-10-25T03:57:35.123Z,1761364655.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513149
2025-10-25T03:57:35.341Z,1761364655.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880862,0.434341,-0.188229],[-0.444067,0.895929,-0.010745],[0.163973,0.093051,0.982066]]
2025-10-25T03:57:35.374Z,1761364655.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763803
2025-10-25T03:57:35.394Z,1761364655.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.32 m.
2025-10-25T03:57:35.396Z,1761364655.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.320618 m,
      nav range: 301.169769 m,
      bearing: 330.082544 deg,
      approach rate: -0.574875 m/s,
      LOS rate: -0.005544 deg/s,
      cmd heading: 332.971285 deg,
      new cmd heading: 332.965403 deg.

2025-10-25T03:57:35.413Z,1761364655.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811343 target range: 312.320618 and range: 313.60 m.
2025-10-25T03:57:35.631Z,1761364655.631 [DAT](INFO): DAT read: 03:57:34.0053 LVL= 11344, 13425,  8850, 12995, AGC= 63, IDX=  54, 0.29, 2.353, 1.235, 2.419, 1.585, PHS= 0.856,-0.302, 0.831, RAW= 148.9, -23.1, CAL= 153.6, -29.9, ROT= 356.4,  29.9

2025-10-25T03:57:35.633Z,1761364655.633 [DAT](INFO): got valid direction response:
 03:57:34.0053 LVL= 11344, 13425,  8850, 12995, AGC= 63, IDX=  54, 0.29, 2.353, 1.235, 2.419, 1.585, PHS= 0.856,-0.302, 0.831, RAW= 148.9, -23.1, CAL= 153.6, -29.9, ROT= 356.4,  29.9

2025-10-25T03:57:35.634Z,1761364655.634 [DAT](INFO): DAT read: Bearing 356.4,  29.9 (Local)

2025-10-25T03:57:35.634Z,1761364655.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  29.9 (Local)

2025-10-25T03:57:35.636Z,1761364655.636 [DAT](INFO): DAT read: Range 10 to 50 : 323.0 m  (Round-trip  430.7 ms) speed  0.4 m/s

2025-10-25T03:57:35.637Z,1761364655.637 [DAT](INFO): DAT read: user:215>

2025-10-25T03:57:35.637Z,1761364655.637 [DAT](INFO): DAT read: Tx time:03:57:35.1205

2025-10-25T03:57:35.638Z,1761364655.638 [DAT](INFO): Ping request sent.
2025-10-25T03:57:35.638Z,1761364655.638 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:35.638Z,1761364655.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:35.639Z,1761364655.639 [DAT](INFO): direction in FSK: [0.865186,-0.054433,-0.498488]
2025-10-25T03:57:35.639Z,1761364655.639 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:35.640Z,1761364655.640 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:35.643Z,1761364655.643 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:35.643Z,1761364655.643 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:35.766Z,1761364655.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881368,0.432488,-0.190115],[-0.442693,0.896583,-0.012698],[0.164962,0.095354,0.981680]]
2025-10-25T03:57:35.837Z,1761364655.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.000000 m,
      deltaT: 4.031272 s,
      deltaX: 9.399994 m,
      approachRate: 2.331769 m/s,
      rangeRepo size: 4

2025-10-25T03:57:35.839Z,1761364655.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.657104 m,
      bearing: 332.964200 deg,
      lat: 36.779411 deg,
      lon: -121.859888 deg,
      deltaT: 4.031272 s,
      deltaX: 9.336487 m,
      approachRate: 2.316015 m/s,
      posRepo size: 4

2025-10-25T03:57:35.840Z,1761364655.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:35.842Z,1761364655.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 298.901642 m,
      bearing: 330.773993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005544 deg/s,
      cmd heading: 332.965411 deg,
      new cmd heading: 332.958180 deg.

2025-10-25T03:57:35.843Z,1761364655.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811216 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:35.879Z,1761364655.879 [DAT](INFO): DAT read: TxSync time:03:57:35.1197

2025-10-25T03:57:36.158Z,1761364656.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880398,0.433891,-0.191408],[-0.444092,0.895904,-0.011771],[0.166376,0.095366,0.981440]]
2025-10-25T03:57:36.239Z,1761364656.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:36.247Z,1761364656.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 298.661865 m,
      bearing: 330.774132 deg,
      approach rate: -0.583415 m/s,
      LOS rate: 0.000336 deg/s,
      cmd heading: 332.958171 deg,
      new cmd heading: 332.958586 deg.

2025-10-25T03:57:36.247Z,1761364656.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811224 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:36.563Z,1761364656.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879321,0.435887,-0.191827],[-0.445832,0.895063,-0.009820],[0.167417,0.094157,0.981380]]
2025-10-25T03:57:36.610Z,1761364656.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:36.612Z,1761364656.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 298.460358 m,
      bearing: 330.774332 deg,
      approach rate: -0.544136 m/s,
      LOS rate: 0.000541 deg/s,
      cmd heading: 332.958581 deg,
      new cmd heading: 332.959182 deg.

2025-10-25T03:57:36.614Z,1761364656.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811234 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:37.073Z,1761364657.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877497,0.439442,-0.192067],[-0.449066,0.893467,-0.007434],[0.168339,0.092774,0.981354]]
2025-10-25T03:57:37.134Z,1761364657.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:37.136Z,1761364657.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:37.138Z,1761364657.138 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:37.138Z,1761364657.138 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:37.138Z,1761364657.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:37.143Z,1761364657.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 298.158783 m,
      bearing: 330.777845 deg,
      approach rate: -0.572660 m/s,
      LOS rate: 0.006679 deg/s,
      cmd heading: 332.959182 deg,
      new cmd heading: 332.969733 deg.

2025-10-25T03:57:37.144Z,1761364657.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811418 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:37.146Z,1761364657.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 56.513107 m.
2025-10-25T03:57:37.390Z,1761364657.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752065
2025-10-25T03:57:37.429Z,1761364657.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877368,0.440037,-0.191292],[-0.449437,0.893288,-0.006489],[0.168024,0.091667,0.981512]]
2025-10-25T03:57:37.449Z,1761364657.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:37.452Z,1761364657.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 297.981384 m,
      bearing: 330.779932 deg,
      approach rate: -0.566253 m/s,
      LOS rate: 0.006664 deg/s,
      cmd heading: 332.969728 deg,
      new cmd heading: 332.975990 deg.

2025-10-25T03:57:37.453Z,1761364657.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811527 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:37.644Z,1761364657.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006434
2025-10-25T03:57:37.823Z,1761364657.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876936,0.441073,-0.190885],[-0.450221,0.892902,-0.005131],[0.168179,0.090440,0.981599]]
2025-10-25T03:57:37.847Z,1761364657.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:37.851Z,1761364657.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 297.755920 m,
      bearing: 330.782631 deg,
      approach rate: -0.567557 m/s,
      LOS rate: 0.006800 deg/s,
      cmd heading: 332.975984 deg,
      new cmd heading: 332.984088 deg.

2025-10-25T03:57:37.852Z,1761364657.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811669 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:37.894Z,1761364657.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256738
2025-10-25T03:57:38.145Z,1761364658.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507693
2025-10-25T03:57:38.285Z,1761364658.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:38.290Z,1761364658.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 297.506348 m,
      bearing: 330.786075 deg,
      approach rate: -0.570019 m/s,
      LOS rate: 0.007874 deg/s,
      cmd heading: 332.984098 deg,
      new cmd heading: 332.994441 deg.

2025-10-25T03:57:38.292Z,1761364658.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811850 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:38.399Z,1761364658.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760916
2025-10-25T03:57:38.650Z,1761364658.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011927
2025-10-25T03:57:38.692Z,1761364658.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:38.698Z,1761364658.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 297.279724 m,
      bearing: 330.789208 deg,
      approach rate: -0.557685 m/s,
      LOS rate: 0.007715 deg/s,
      cmd heading: 332.994453 deg,
      new cmd heading: 333.003858 deg.

2025-10-25T03:57:38.700Z,1761364658.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812014 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:38.902Z,1761364658.902 [DAT](INFO): DAT read: Rx Time:03:57:37.9373

2025-10-25T03:57:38.902Z,1761364658.902 [DAT](INFO): Rx dataTimestamp_ set to:1761364658.901821
2025-10-25T03:57:38.903Z,1761364658.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264917
2025-10-25T03:57:39.154Z,1761364659.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515789
2025-10-25T03:57:39.164Z,1761364659.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876142,0.442841,-0.190440],[-0.451892,0.892061,-0.004624],[0.167836,0.090110,0.981688]]
2025-10-25T03:57:39.257Z,1761364659.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:39.260Z,1761364659.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.66 m.
2025-10-25T03:57:39.262Z,1761364659.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.657104 m,
      nav range: 296.938873 m,
      bearing: 330.795568 deg,
      approach rate: -0.599490 m/s,
      LOS rate: 0.011199 deg/s,
      cmd heading: 333.003851 deg,
      new cmd heading: 333.022954 deg.

2025-10-25T03:57:39.263Z,1761364659.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812347 target range: 321.657104 and range: 323.00 m.
2025-10-25T03:57:39.424Z,1761364659.424 [DAT](INFO): DAT read: 03:57:37.9373 LVL= 18544, 24273, 16274, 24227, AGC= 69, IDX= 256, 0.24, 2.320, 1.251, 2.339, 1.396, PHS= 1.012,-0.098, 0.940, RAW= 146.7, -31.3, CAL= 150.1, -36.4, ROT= 359.9,  36.4

2025-10-25T03:57:39.426Z,1761364659.426 [DAT](INFO): got valid direction response:
 03:57:37.9373 LVL= 18544, 24273, 16274, 24227, AGC= 69, IDX= 256, 0.24, 2.320, 1.251, 2.339, 1.396, PHS= 1.012,-0.098, 0.940, RAW= 146.7, -31.3, CAL= 150.1, -36.4, ROT= 359.9,  36.4

2025-10-25T03:57:39.427Z,1761364659.427 [DAT](INFO): DAT read: Bearing 359.9,  36.4 (Local)

2025-10-25T03:57:39.427Z,1761364659.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  36.4 (Local)

2025-10-25T03:57:39.429Z,1761364659.429 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m  (Round-trip  412.5 ms) speed  0.4 m/s

2025-10-25T03:57:39.430Z,1761364659.430 [DAT](INFO): DAT read: user:216>

2025-10-25T03:57:39.430Z,1761364659.430 [DAT](INFO): DAT read: Tx time:03:57:39.0206

2025-10-25T03:57:39.431Z,1761364659.431 [DAT](INFO): Ping request sent.
2025-10-25T03:57:39.431Z,1761364659.431 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:39.431Z,1761364659.431 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:39.434Z,1761364659.434 [DAT](INFO): direction in FSK: [0.804893,-0.001405,-0.593419]
2025-10-25T03:57:39.434Z,1761364659.434 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:39.434Z,1761364659.434 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:39.439Z,1761364659.439 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:39.439Z,1761364659.439 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:39.585Z,1761364659.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876236,0.442574,-0.190629],[-0.451831,0.892085,-0.005751],[0.167512,0.091171,0.981645]]
2025-10-25T03:57:39.618Z,1761364659.618 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T03:57:39.640Z,1761364659.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.299988 m,
      deltaT: 3.781858 s,
      deltaX: -13.700012 m,
      approachRate: -3.622561 m/s,
      rangeRepo size: 4

2025-10-25T03:57:39.650Z,1761364659.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.003479 m,
      bearing: 336.151152 deg,
      lat: 36.779368 deg,
      lon: -121.859888 deg,
      deltaT: 3.781858 s,
      deltaX: -13.653625 m,
      approachRate: -3.610296 m/s,
      posRepo size: 4

2025-10-25T03:57:39.651Z,1761364659.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:39.658Z,1761364659.658 [DAT](INFO): DAT read: TxSync time:03:57:39.0198

2025-10-25T03:57:39.660Z,1761364659.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 292.611694 m,
      bearing: 330.347766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011199 deg/s,
      cmd heading: 333.022948 deg,
      new cmd heading: 333.035712 deg.

2025-10-25T03:57:39.665Z,1761364659.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812570 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:39.978Z,1761364659.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876080,0.442926,-0.190527],[-0.452467,0.891750,-0.007440],[0.166607,0.092725,0.981654]]
2025-10-25T03:57:39.999Z,1761364659.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:40.003Z,1761364660.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 292.387573 m,
      bearing: 330.351690 deg,
      approach rate: -0.624851 m/s,
      LOS rate: 0.010948 deg/s,
      cmd heading: 333.035707 deg,
      new cmd heading: 333.047488 deg.

2025-10-25T03:57:40.004Z,1761364660.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812775 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:40.394Z,1761364660.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875938,0.444851,-0.186654],[-0.453395,0.891303,-0.003476],[0.164819,0.087673,0.982419]]
2025-10-25T03:57:40.470Z,1761364660.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:40.477Z,1761364660.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 292.126221 m,
      bearing: 330.355668 deg,
      approach rate: -0.553824 m/s,
      LOS rate: 0.008437 deg/s,
      cmd heading: 333.047482 deg,
      new cmd heading: 333.059426 deg.

2025-10-25T03:57:40.478Z,1761364660.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812984 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:40.804Z,1761364660.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877323,0.442859,-0.184880],[-0.452238,0.891844,-0.009722],[0.160579,0.092139,0.982713]]
2025-10-25T03:57:40.835Z,1761364660.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:40.838Z,1761364660.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 291.908112 m,
      bearing: 330.358914 deg,
      approach rate: -0.597283 m/s,
      LOS rate: 0.008895 deg/s,
      cmd heading: 333.059422 deg,
      new cmd heading: 333.069167 deg.

2025-10-25T03:57:40.839Z,1761364660.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813154 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:41.207Z,1761364661.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880404,0.440317,-0.176096],[-0.450719,0.892394,-0.022024],[0.147450,0.098760,0.984127]]
2025-10-25T03:57:41.254Z,1761364661.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:41.256Z,1761364661.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 291.665436 m,
      bearing: 330.360389 deg,
      approach rate: -0.579994 m/s,
      LOS rate: 0.003529 deg/s,
      cmd heading: 333.069175 deg,
      new cmd heading: 333.073604 deg.

2025-10-25T03:57:41.258Z,1761364661.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813231 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:41.634Z,1761364661.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:41.636Z,1761364661.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:41.639Z,1761364661.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 291.444733 m,
      bearing: 330.361733 deg,
      approach rate: -0.577518 m/s,
      LOS rate: 0.003519 deg/s,
      cmd heading: 333.073601 deg,
      new cmd heading: 333.077636 deg.

2025-10-25T03:57:41.640Z,1761364661.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813302 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:41.674Z,1761364661.674 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:41.674Z,1761364661.674 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:41.675Z,1761364661.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:41.926Z,1761364661.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495145
2025-10-25T03:57:42.012Z,1761364662.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883833,0.437870,-0.164650],[-0.448776,0.892990,-0.034185],[0.132062,0.104105,0.985759]]
2025-10-25T03:57:42.031Z,1761364662.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:42.034Z,1761364662.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 291.214996 m,
      bearing: 330.362976 deg,
      approach rate: -0.581853 m/s,
      LOS rate: 0.003152 deg/s,
      cmd heading: 333.077645 deg,
      new cmd heading: 333.081378 deg.

2025-10-25T03:57:42.035Z,1761364662.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813367 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:42.178Z,1761364662.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747023
2025-10-25T03:57:42.414Z,1761364662.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885209,0.437580,-0.157888],[-0.448199,0.893145,-0.037540],[0.124590,0.103996,0.986743]]
2025-10-25T03:57:42.430Z,1761364662.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999079
2025-10-25T03:57:42.489Z,1761364662.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:42.492Z,1761364662.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 290.975372 m,
      bearing: 330.362943 deg,
      approach rate: -0.526995 m/s,
      LOS rate: -0.000072 deg/s,
      cmd heading: 333.081388 deg,
      new cmd heading: 333.081289 deg.

2025-10-25T03:57:42.493Z,1761364662.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813365 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:42.681Z,1761364662.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250696
2025-10-25T03:57:42.820Z,1761364662.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886669,0.436694,-0.152041],[-0.447313,0.893357,-0.042718],[0.117172,0.105887,0.987451]]
2025-10-25T03:57:42.862Z,1761364662.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:42.870Z,1761364662.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 290.764679 m,
      bearing: 330.362852 deg,
      approach rate: -0.560142 m/s,
      LOS rate: -0.000242 deg/s,
      cmd heading: 333.081278 deg,
      new cmd heading: 333.081006 deg.

2025-10-25T03:57:42.870Z,1761364662.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813360 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:42.935Z,1761364662.935 [DAT](INFO): DAT read: Rx Time:03:57:41.8344

2025-10-25T03:57:42.935Z,1761364662.935 [DAT](INFO): Rx dataTimestamp_ set to:1761364662.934776
2025-10-25T03:57:42.937Z,1761364662.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505219
2025-10-25T03:57:43.187Z,1761364663.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756386
2025-10-25T03:57:43.337Z,1761364663.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:57:43.340Z,1761364663.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.003479 m,
      nav range: 290.492889 m,
      bearing: 330.359558 deg,
      approach rate: -0.570970 m/s,
      LOS rate: -0.006927 deg/s,
      cmd heading: 333.081005 deg,
      new cmd heading: 333.071112 deg.

2025-10-25T03:57:43.341Z,1761364663.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813188 target range: 308.003479 and range: 309.30 m.
2025-10-25T03:57:43.444Z,1761364663.444 [DAT](INFO): DAT read: 03:57:41.8344 LVL= 21408, 22689, 17538, 29299, AGC= 66, IDX= 416, 0.17,-0.898,-2.212,-0.825,-1.537, PHS= 0.727,-0.628, 0.708, RAW= 149.3, -12.0, CAL= 156.4, -19.9, ROT= 353.6,  19.9

2025-10-25T03:57:43.445Z,1761364663.445 [DAT](INFO): got valid direction response:
 03:57:41.8344 LVL= 21408, 22689, 17538, 29299, AGC= 66, IDX= 416, 0.17,-0.898,-2.212,-0.825,-1.537, PHS= 0.727,-0.628, 0.708, RAW= 149.3, -12.0, CAL= 156.4, -19.9, ROT= 353.6,  19.9

2025-10-25T03:57:43.446Z,1761364663.446 [DAT](INFO): DAT read: Bearing 353.6,  19.9 (Local)

2025-10-25T03:57:43.447Z,1761364663.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  19.9 (Local)

2025-10-25T03:57:43.449Z,1761364663.449 [DAT](INFO): DAT read: Range 10 to 50 : 307.2 m  (Round-trip  409.7 ms) speed  0.4 m/s

2025-10-25T03:57:43.450Z,1761364663.450 [DAT](INFO): DAT read: user:217>

2025-10-25T03:57:43.451Z,1761364663.451 [DAT](INFO): DAT read: Tx time:03:57:42.9206

2025-10-25T03:57:43.452Z,1761364663.452 [DAT](INFO): Ping request sent.
2025-10-25T03:57:43.452Z,1761364663.452 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:43.452Z,1761364663.452 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:43.458Z,1761364663.458 [DAT](INFO): direction in FSK: [0.934428,-0.104813,-0.340380]
2025-10-25T03:57:43.458Z,1761364663.458 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:43.458Z,1761364663.458 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:43.461Z,1761364663.461 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:43.462Z,1761364663.462 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:43.625Z,1761364663.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889099,0.435762,-0.140050],[-0.446017,0.893557,-0.051230],[0.102818,0.108013,0.988818]]
2025-10-25T03:57:43.672Z,1761364663.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.200012 m,
      deltaT: 4.030764 s,
      deltaX: -2.099976 m,
      approachRate: -0.520987 m/s,
      rangeRepo size: 4

2025-10-25T03:57:43.678Z,1761364663.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.881531 m,
      bearing: 329.375793 deg,
      lat: 36.779368 deg,
      lon: -121.859888 deg,
      deltaT: 4.030764 s,
      deltaX: -2.121948 m,
      approachRate: -0.526438 m/s,
      posRepo size: 4

2025-10-25T03:57:43.679Z,1761364663.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:43.686Z,1761364663.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 290.317474 m,
      bearing: 330.357351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006927 deg/s,
      cmd heading: 333.071115 deg,
      new cmd heading: 333.064171 deg.

2025-10-25T03:57:43.687Z,1761364663.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813066 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:43.690Z,1761364663.690 [DAT](INFO): DAT read: TxSync time:03:57:42.9198

2025-10-25T03:57:44.029Z,1761364664.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889699,0.436580,-0.133541],[-0.445958,0.893687,-0.049443],[0.097758,0.103543,0.989809]]
2025-10-25T03:57:44.055Z,1761364664.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:44.057Z,1761364664.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:44.059Z,1761364664.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 290.097717 m,
      bearing: 330.354566 deg,
      approach rate: -0.570475 m/s,
      LOS rate: -0.007235 deg/s,
      cmd heading: 333.064175 deg,
      new cmd heading: 333.055815 deg.

2025-10-25T03:57:44.061Z,1761364664.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812921 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:44.193Z,1761364664.193 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:44.194Z,1761364664.194 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:44.194Z,1761364664.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:44.435Z,1761364664.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890872,0.435680,-0.128571],[-0.444951,0.893934,-0.053862],[0.091467,0.105192,0.990237]]
2025-10-25T03:57:44.446Z,1761364664.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994213
2025-10-25T03:57:44.505Z,1761364664.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:44.507Z,1761364664.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 289.868958 m,
      bearing: 330.350541 deg,
      approach rate: -0.539979 m/s,
      LOS rate: -0.009508 deg/s,
      cmd heading: 333.055815 deg,
      new cmd heading: 333.043731 deg.

2025-10-25T03:57:44.508Z,1761364664.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812710 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:44.698Z,1761364664.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245916
2025-10-25T03:57:44.840Z,1761364664.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891376,0.436115,-0.123505],[-0.445172,0.893595,-0.057532],[0.085273,0.106264,0.990675]]
2025-10-25T03:57:44.874Z,1761364664.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:44.881Z,1761364664.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 289.665253 m,
      bearing: 330.346952 deg,
      approach rate: -0.517547 m/s,
      LOS rate: -0.009125 deg/s,
      cmd heading: 333.043740 deg,
      new cmd heading: 333.032965 deg.

2025-10-25T03:57:44.882Z,1761364664.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812522 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:44.951Z,1761364664.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499455
2025-10-25T03:57:45.202Z,1761364665.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749939
2025-10-25T03:57:45.334Z,1761364665.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:45.341Z,1761364665.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 289.423187 m,
      bearing: 330.341598 deg,
      approach rate: -0.526062 m/s,
      LOS rate: -0.011645 deg/s,
      cmd heading: 333.032975 deg,
      new cmd heading: 333.016900 deg.

2025-10-25T03:57:45.342Z,1761364665.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812242 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:45.456Z,1761364665.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003910
2025-10-25T03:57:45.646Z,1761364665.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893904,0.434339,-0.110840],[-0.442496,0.894532,-0.063323],[0.071646,0.105651,0.991819]]
2025-10-25T03:57:45.675Z,1761364665.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:45.679Z,1761364665.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 289.225372 m,
      bearing: 330.337078 deg,
      approach rate: -0.579475 m/s,
      LOS rate: -0.013251 deg/s,
      cmd heading: 333.016911 deg,
      new cmd heading: 333.003340 deg.

2025-10-25T03:57:45.679Z,1761364665.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812005 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:45.706Z,1761364665.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253933
2025-10-25T03:57:45.958Z,1761364665.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505903
2025-10-25T03:57:46.080Z,1761364666.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:46.099Z,1761364666.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:46.106Z,1761364666.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 289.006561 m,
      bearing: 330.332071 deg,
      approach rate: -0.517281 m/s,
      LOS rate: -0.011846 deg/s,
      cmd heading: 333.003332 deg,
      new cmd heading: 332.988299 deg.

2025-10-25T03:57:46.107Z,1761364666.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811742 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:46.210Z,1761364666.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758038
2025-10-25T03:57:46.458Z,1761364666.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895529,0.433723,-0.099558],[-0.440960,0.894988,-0.067456],[0.059846,0.104310,0.992743]]
2025-10-25T03:57:46.462Z,1761364666.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009970
2025-10-25T03:57:46.517Z,1761364666.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:46.520Z,1761364666.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 288.774658 m,
      bearing: 330.327082 deg,
      approach rate: -0.553617 m/s,
      LOS rate: -0.011919 deg/s,
      cmd heading: 332.988306 deg,
      new cmd heading: 332.973328 deg.

2025-10-25T03:57:46.521Z,1761364666.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811481 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:46.714Z,1761364666.714 [DAT](INFO): DAT read: Rx Time:03:57:45.7319

2025-10-25T03:57:46.714Z,1761364666.714 [DAT](INFO): Rx dataTimestamp_ set to:1761364666.713793
2025-10-25T03:57:46.716Z,1761364666.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263726
2025-10-25T03:57:46.859Z,1761364666.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895905,0.434250,-0.093712],[-0.440925,0.894943,-0.068274],[0.054219,0.102487,0.993256]]
2025-10-25T03:57:46.894Z,1761364666.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.88 m.
2025-10-25T03:57:46.898Z,1761364666.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.881531 m,
      nav range: 288.573944 m,
      bearing: 330.322753 deg,
      approach rate: -0.535545 m/s,
      LOS rate: -0.011560 deg/s,
      cmd heading: 332.973334 deg,
      new cmd heading: 332.960336 deg.

2025-10-25T03:57:46.901Z,1761364666.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811254 target range: 305.881531 and range: 307.20 m.
2025-10-25T03:57:46.966Z,1761364666.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514489
2025-10-25T03:57:47.224Z,1761364667.224 [DAT](INFO): DAT read: 03:57:45.7319 LVL= 20672, 27041, 17794, 30195, AGC= 63, IDX= 421, 0.44, 2.156, 0.690, 2.282, 1.453, PHS= 0.791,-0.716, 0.825, RAW= 151.1, -11.8, CAL= 158.0, -19.3, ROT= 352.0,  19.3

2025-10-25T03:57:47.225Z,1761364667.225 [DAT](INFO): got valid direction response:
 03:57:45.7319 LVL= 20672, 27041, 17794, 30195, AGC= 63, IDX= 421, 0.44, 2.156, 0.690, 2.282, 1.453, PHS= 0.791,-0.716, 0.825, RAW= 151.1, -11.8, CAL= 158.0, -19.3, ROT= 352.0,  19.3

2025-10-25T03:57:47.226Z,1761364667.226 [DAT](INFO): DAT read: Bearing 352.0,  19.3 (Local)

2025-10-25T03:57:47.226Z,1761364667.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,  19.3 (Local)

2025-10-25T03:57:47.228Z,1761364667.228 [DAT](INFO): DAT read: Range 10 to 50 : 305.4 m  (Round-trip  407.2 ms) speed  0.4 m/s

2025-10-25T03:57:47.229Z,1761364667.229 [DAT](INFO): DAT read: user:218>

2025-10-25T03:57:47.229Z,1761364667.229 [DAT](INFO): DAT read: Tx time:03:57:46.8206

2025-10-25T03:57:47.230Z,1761364667.230 [DAT](INFO): Ping request sent.
2025-10-25T03:57:47.230Z,1761364667.230 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:47.230Z,1761364667.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:47.232Z,1761364667.232 [DAT](INFO): direction in FSK: [0.934616,-0.131352,-0.330514]
2025-10-25T03:57:47.232Z,1761364667.232 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:47.233Z,1761364667.233 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:47.236Z,1761364667.236 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:47.236Z,1761364667.236 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:47.264Z,1761364667.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896270,0.434639,-0.088256],[-0.440774,0.894995,-0.068577],[0.049182,0.100364,0.993734]]
2025-10-25T03:57:47.406Z,1761364667.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.399994 m,
      deltaT: 3.779462 s,
      deltaX: -1.800018 m,
      approachRate: -0.476263 m/s,
      rangeRepo size: 4

2025-10-25T03:57:47.408Z,1761364667.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.085205 m,
      bearing: 327.956197 deg,
      lat: 36.779352 deg,
      lon: -121.859888 deg,
      deltaT: 3.779462 s,
      deltaX: -1.796326 m,
      approachRate: -0.475286 m/s,
      posRepo size: 4

2025-10-25T03:57:47.413Z,1761364667.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:47.421Z,1761364667.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 286.791962 m,
      bearing: 330.144559 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011560 deg/s,
      cmd heading: 332.960329 deg,
      new cmd heading: 332.942522 deg.

2025-10-25T03:57:47.422Z,1761364667.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810943 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:47.470Z,1761364667.470 [DAT](INFO): DAT read: TxSync time:03:57:46.8198

2025-10-25T03:57:47.690Z,1761364667.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896228,0.435722,-0.083194],[-0.441366,0.894674,-0.068946],[0.044390,0.098511,0.994145]]
2025-10-25T03:57:47.737Z,1761364667.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:47.740Z,1761364667.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 286.598083 m,
      bearing: 330.141241 deg,
      approach rate: -0.584594 m/s,
      LOS rate: -0.010011 deg/s,
      cmd heading: 332.942516 deg,
      new cmd heading: 332.932555 deg.

2025-10-25T03:57:47.741Z,1761364667.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810769 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:48.084Z,1761364668.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895745,0.436968,-0.081856],[-0.442643,0.893736,-0.072825],[0.041335,0.101466,0.993980]]
2025-10-25T03:57:48.102Z,1761364668.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:48.104Z,1761364668.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:48.107Z,1761364668.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 286.402191 m,
      bearing: 330.137932 deg,
      approach rate: -0.533985 m/s,
      LOS rate: -0.009026 deg/s,
      cmd heading: 332.932544 deg,
      new cmd heading: 332.922610 deg.

2025-10-25T03:57:48.108Z,1761364668.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810596 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:48.228Z,1761364668.228 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:48.229Z,1761364668.229 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:48.230Z,1761364668.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:48.478Z,1761364668.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247855
2025-10-25T03:57:48.497Z,1761364668.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894297,0.440727,-0.077418],[-0.445911,0.892184,-0.071917],[0.037375,0.098836,0.994402]]
2025-10-25T03:57:48.559Z,1761364668.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:48.567Z,1761364668.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 286.159027 m,
      bearing: 330.135588 deg,
      approach rate: -0.534604 m/s,
      LOS rate: -0.005160 deg/s,
      cmd heading: 332.922599 deg,
      new cmd heading: 332.915559 deg.

2025-10-25T03:57:48.568Z,1761364668.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810472 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:48.730Z,1761364668.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499908
2025-10-25T03:57:48.891Z,1761364668.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893695,0.442657,-0.073247],[-0.447431,0.891412,-0.072046],[0.033401,0.097160,0.994708]]
2025-10-25T03:57:48.925Z,1761364668.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:48.931Z,1761364668.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 285.959015 m,
      bearing: 330.133726 deg,
      approach rate: -0.547304 m/s,
      LOS rate: -0.005098 deg/s,
      cmd heading: 332.915551 deg,
      new cmd heading: 332.909961 deg.

2025-10-25T03:57:48.932Z,1761364668.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810375 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:48.983Z,1761364668.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753050
2025-10-25T03:57:49.237Z,1761364669.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006501
2025-10-25T03:57:49.307Z,1761364669.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893754,0.443300,-0.068468],[-0.447640,0.891230,-0.072988],[0.028665,0.095882,0.994980]]
2025-10-25T03:57:49.379Z,1761364669.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:49.383Z,1761364669.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 285.722595 m,
      bearing: 330.133178 deg,
      approach rate: -0.523190 m/s,
      LOS rate: -0.001212 deg/s,
      cmd heading: 332.909950 deg,
      new cmd heading: 332.908306 deg.

2025-10-25T03:57:49.384Z,1761364669.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810346 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:49.487Z,1761364669.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257077
2025-10-25T03:57:49.701Z,1761364669.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894016,0.443358,-0.064563],[-0.447349,0.891298,-0.073936],[0.024765,0.094982,0.995171]]
2025-10-25T03:57:49.738Z,1761364669.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507798
2025-10-25T03:57:49.750Z,1761364669.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:49.753Z,1761364669.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 285.512360 m,
      bearing: 330.132678 deg,
      approach rate: -0.562833 m/s,
      LOS rate: -0.001340 deg/s,
      cmd heading: 332.908311 deg,
      new cmd heading: 332.906809 deg.

2025-10-25T03:57:49.754Z,1761364669.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810320 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:49.996Z,1761364669.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766263
2025-10-25T03:57:50.105Z,1761364670.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894193,0.443507,-0.061005],[-0.447199,0.891225,-0.075699],[0.020796,0.094971,0.995263]]
2025-10-25T03:57:50.124Z,1761364670.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:50.146Z,1761364670.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:50.155Z,1761364670.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 285.293762 m,
      bearing: 330.132148 deg,
      approach rate: -0.551159 m/s,
      LOS rate: -0.001337 deg/s,
      cmd heading: 332.906808 deg,
      new cmd heading: 332.905218 deg.

2025-10-25T03:57:50.156Z,1761364670.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810292 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:50.250Z,1761364670.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019725
2025-10-25T03:57:50.499Z,1761364670.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268775
2025-10-25T03:57:50.510Z,1761364670.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894150,0.444018,-0.057821],[-0.447437,0.890965,-0.077341],[0.017175,0.095026,0.995327]]
2025-10-25T03:57:50.570Z,1761364670.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:50.573Z,1761364670.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 285.047089 m,
      bearing: 330.133874 deg,
      approach rate: -0.582622 m/s,
      LOS rate: 0.004078 deg/s,
      cmd heading: 332.905223 deg,
      new cmd heading: 332.910403 deg.

2025-10-25T03:57:50.574Z,1761364670.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810383 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:50.750Z,1761364670.750 [DAT](INFO): DAT read: Rx Time:03:57:49.6291

2025-10-25T03:57:50.751Z,1761364670.751 [DAT](INFO): Rx dataTimestamp_ set to:1761364670.750294
2025-10-25T03:57:50.751Z,1761364670.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521336
2025-10-25T03:57:50.916Z,1761364670.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893911,0.444885,-0.054777],[-0.448041,0.890494,-0.079241],[0.013525,0.095377,0.995349]]
2025-10-25T03:57:50.935Z,1761364670.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.09 m.
2025-10-25T03:57:50.941Z,1761364670.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.085205 m,
      nav range: 284.843475 m,
      bearing: 330.135326 deg,
      approach rate: -0.559669 m/s,
      LOS rate: 0.003996 deg/s,
      cmd heading: 332.910414 deg,
      new cmd heading: 332.914775 deg.

2025-10-25T03:57:50.942Z,1761364670.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810459 target range: 304.085205 and range: 305.40 m.
2025-10-25T03:57:51.003Z,1761364671.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773230
2025-10-25T03:57:51.271Z,1761364671.271 [DAT](INFO): DAT read: 03:57:49.6291 LVL= 25376, 32753, 21698, 32755, AGC= 66, IDX= 408, 0.20, 0.073,-1.337, 0.184,-0.579, PHS= 0.741,-0.710, 0.760, RAW= 150.7, -10.8, CAL= 157.3, -18.6, ROT= 352.7,  18.6

2025-10-25T03:57:51.272Z,1761364671.272 [DAT](INFO): got valid direction response:
 03:57:49.6291 LVL= 25376, 32753, 21698, 32755, AGC= 66, IDX= 408, 0.20, 0.073,-1.337, 0.184,-0.579, PHS= 0.741,-0.710, 0.760, RAW= 150.7, -10.8, CAL= 157.3, -18.6, ROT= 352.7,  18.6

2025-10-25T03:57:51.290Z,1761364671.290 [DAT](INFO): DAT read: Bearing 352.7,  18.6 (Local)

2025-10-25T03:57:51.291Z,1761364671.291 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7,  18.6 (Local)

2025-10-25T03:57:51.314Z,1761364671.314 [DAT](INFO): DAT read: Range 10 to 50 : 303.2 m  (Round-trip  404.3 ms) speed  0.4 m/s

2025-10-25T03:57:51.316Z,1761364671.316 [DAT](INFO): DAT read: user:219>

2025-10-25T03:57:51.329Z,1761364671.329 [DAT](INFO): DAT read: Tx time:03:57:50.7207

2025-10-25T03:57:51.329Z,1761364671.329 [DAT](INFO): Ping request sent.
2025-10-25T03:57:51.330Z,1761364671.330 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:51.330Z,1761364671.330 [DAT](INFO): DAT read: TxSync time:03:57:50.7199

2025-10-25T03:57:51.331Z,1761364671.331 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:51.337Z,1761364671.337 [DAT](INFO): direction in FSK: [0.940086,-0.120428,-0.318959]
2025-10-25T03:57:51.337Z,1761364671.337 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:51.337Z,1761364671.337 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:51.353Z,1761364671.353 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:51.353Z,1761364671.353 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:51.506Z,1761364671.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.200012 m,
      deltaT: 4.037494 s,
      deltaX: -2.199982 m,
      approachRate: -0.544888 m/s,
      rangeRepo size: 4

2025-10-25T03:57:51.513Z,1761364671.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.894592 m,
      bearing: 327.968646 deg,
      lat: 36.779347 deg,
      lon: -121.859969 deg,
      deltaT: 4.037494 s,
      deltaX: -2.190613 m,
      approachRate: -0.542567 m/s,
      posRepo size: 4

2025-10-25T03:57:51.513Z,1761364671.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:51.530Z,1761364671.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 287.635132 m,
      bearing: 328.829376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003996 deg/s,
      cmd heading: 332.914786 deg,
      new cmd heading: 332.921576 deg.

2025-10-25T03:57:51.531Z,1761364671.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810578 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:51.804Z,1761364671.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893580,0.446189,-0.049294],[-0.448859,0.889639,-0.084074],[0.006341,0.097253,0.995239]]
2025-10-25T03:57:51.824Z,1761364671.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:51.827Z,1761364671.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 287.421906 m,
      bearing: 328.830938 deg,
      approach rate: -0.658468 m/s,
      LOS rate: 0.004829 deg/s,
      cmd heading: 332.921588 deg,
      new cmd heading: 332.926280 deg.

2025-10-25T03:57:51.828Z,1761364671.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810660 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:52.364Z,1761364672.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:52.367Z,1761364672.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:52.370Z,1761364672.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 287.102600 m,
      bearing: 328.833730 deg,
      approach rate: -0.587810 m/s,
      LOS rate: 0.005144 deg/s,
      cmd heading: 332.926288 deg,
      new cmd heading: 332.934671 deg.

2025-10-25T03:57:52.371Z,1761364672.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810806 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:52.513Z,1761364672.513 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:52.513Z,1761364672.513 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:52.514Z,1761364672.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:52.667Z,1761364672.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891492,0.450873,-0.044223],[-0.453014,0.886205,-0.097056],[-0.004570,0.106558,0.994296]]
2025-10-25T03:57:52.687Z,1761364672.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:52.690Z,1761364672.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 286.914978 m,
      bearing: 328.835534 deg,
      approach rate: -0.587270 m/s,
      LOS rate: 0.005651 deg/s,
      cmd heading: 332.934675 deg,
      new cmd heading: 332.940092 deg.

2025-10-25T03:57:52.690Z,1761364672.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810901 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:52.767Z,1761364672.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437617
2025-10-25T03:57:53.018Z,1761364673.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687982
2025-10-25T03:57:53.072Z,1761364673.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890771,0.452721,-0.039632],[-0.454368,0.885534,-0.096847],[-0.008749,0.104276,0.994510]]
2025-10-25T03:57:53.090Z,1761364673.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:53.093Z,1761364673.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 286.677429 m,
      bearing: 328.837901 deg,
      approach rate: -0.588582 m/s,
      LOS rate: 0.005870 deg/s,
      cmd heading: 332.940085 deg,
      new cmd heading: 332.947191 deg.

2025-10-25T03:57:53.094Z,1761364673.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811025 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:53.273Z,1761364673.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942595
2025-10-25T03:57:53.464Z,1761364673.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890059,0.454489,-0.035136],[-0.455670,0.884938,-0.096175],[-0.012618,0.101612,0.994744]]
2025-10-25T03:57:53.522Z,1761364673.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192055
2025-10-25T03:57:53.560Z,1761364673.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:53.571Z,1761364673.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 286.433746 m,
      bearing: 328.839879 deg,
      approach rate: -0.518695 m/s,
      LOS rate: 0.004214 deg/s,
      cmd heading: 332.947188 deg,
      new cmd heading: 332.953128 deg.

2025-10-25T03:57:53.649Z,1761364673.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811128 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:53.775Z,1761364673.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445215
2025-10-25T03:57:53.968Z,1761364673.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889780,0.455350,-0.030783],[-0.456090,0.884731,-0.096088],[-0.016519,0.099538,0.994897]]
2025-10-25T03:57:53.991Z,1761364673.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:53.994Z,1761364673.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 286.151184 m,
      bearing: 328.842211 deg,
      approach rate: -0.655518 m/s,
      LOS rate: 0.005414 deg/s,
      cmd heading: 332.953117 deg,
      new cmd heading: 332.960118 deg.

2025-10-25T03:57:53.995Z,1761364673.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811250 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:54.026Z,1761364674.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696025
2025-10-25T03:57:54.233Z,1761364674.233 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:57:54.297Z,1761364674.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950619
2025-10-25T03:57:54.373Z,1761364674.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890078,0.454969,-0.027641],[-0.455379,0.884974,-0.097219],[-0.019770,0.099119,0.994879]]
2025-10-25T03:57:54.422Z,1761364674.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:54.424Z,1761364674.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:54.427Z,1761364674.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 285.896454 m,
      bearing: 328.843172 deg,
      approach rate: -0.588680 m/s,
      LOS rate: 0.002223 deg/s,
      cmd heading: 332.960111 deg,
      new cmd heading: 332.962997 deg.

2025-10-25T03:57:54.428Z,1761364674.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811301 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:54.532Z,1761364674.532 [DAT](INFO): DAT read: Rx Time:03:57:53.5431

2025-10-25T03:57:54.533Z,1761364674.533 [DAT](INFO): Rx dataTimestamp_ set to:1761364674.532252
2025-10-25T03:57:54.534Z,1761364674.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204180
2025-10-25T03:57:54.778Z,1761364674.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890604,0.454113,-0.024601],[-0.454191,0.885400,-0.098884],[-0.023123,0.099240,0.994795]]
2025-10-25T03:57:54.783Z,1761364674.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453166
2025-10-25T03:57:54.800Z,1761364674.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.89 m.
2025-10-25T03:57:54.803Z,1761364674.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.894592 m,
      nav range: 285.676025 m,
      bearing: 328.843948 deg,
      approach rate: -0.586642 m/s,
      LOS rate: 0.002067 deg/s,
      cmd heading: 332.963007 deg,
      new cmd heading: 332.965337 deg.

2025-10-25T03:57:54.804Z,1761364674.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811341 target range: 301.894592 and range: 303.20 m.
2025-10-25T03:57:55.043Z,1761364675.043 [DAT](INFO): DAT read: 03:57:53.5431 LVL= 20976, 24225, 17506, 24563, AGC= 68, IDX=  72,-0.10,-1.731, 2.973,-1.574,-2.386, PHS= 0.743,-0.877, 0.808, RAW= 152.0,  -8.2, CAL= 157.6, -16.1, ROT= 352.4,  16.1

2025-10-25T03:57:55.044Z,1761364675.044 [DAT](INFO): got valid direction response:
 03:57:53.5431 LVL= 20976, 24225, 17506, 24563, AGC= 68, IDX=  72,-0.10,-1.731, 2.973,-1.574,-2.386, PHS= 0.743,-0.877, 0.808, RAW= 152.0,  -8.2, CAL= 157.6, -16.1, ROT= 352.4,  16.1

2025-10-25T03:57:55.045Z,1761364675.045 [DAT](INFO): DAT read: Bearing 352.4,  16.1 (Local)

2025-10-25T03:57:55.045Z,1761364675.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  16.1 (Local)

2025-10-25T03:57:55.047Z,1761364675.047 [DAT](INFO): DAT read: Range 10 to 50 : 313.7 m  (Round-trip  418.3 ms) speed  0.6 m/s

2025-10-25T03:57:55.048Z,1761364675.048 [DAT](INFO): DAT read: user:220>

2025-10-25T03:57:55.057Z,1761364675.057 [DAT](INFO): DAT read: Tx time:03:57:54.6707

2025-10-25T03:57:55.059Z,1761364675.059 [DAT](INFO): Ping request sent.
2025-10-25T03:57:55.059Z,1761364675.059 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:55.060Z,1761364675.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:55.063Z,1761364675.063 [DAT](INFO): direction in FSK: [0.952339,-0.127069,-0.277315]
2025-10-25T03:57:55.063Z,1761364675.063 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:55.064Z,1761364675.064 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:55.084Z,1761364675.084 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:55.084Z,1761364675.084 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:55.237Z,1761364675.237 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:57:55.289Z,1761364675.289 [DAT](INFO): DAT read: TxSync time:03:57:54.6699

2025-10-25T03:57:55.435Z,1761364675.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.700012 m,
      deltaT: 3.781198 s,
      deltaX: 10.500000 m,
      approachRate: 2.776898 m/s,
      rangeRepo size: 4

2025-10-25T03:57:55.442Z,1761364675.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.355438 m,
      bearing: 327.006468 deg,
      lat: 36.779347 deg,
      lon: -121.860003 deg,
      deltaT: 3.781198 s,
      deltaX: 10.460846 m,
      approachRate: 2.766543 m/s,
      posRepo size: 4

2025-10-25T03:57:55.443Z,1761364675.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:55.451Z,1761364675.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 286.895874 m,
      bearing: 328.326982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002067 deg/s,
      cmd heading: 332.965329 deg,
      new cmd heading: 332.969266 deg.

2025-10-25T03:57:55.452Z,1761364675.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811410 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:55.856Z,1761364675.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893144,0.449479,-0.016226],[-0.448725,0.888026,-0.100276],[-0.030663,0.096841,0.994827]]
2025-10-25T03:57:55.897Z,1761364675.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:55.901Z,1761364675.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 286.634033 m,
      bearing: 328.325701 deg,
      approach rate: -0.566742 m/s,
      LOS rate: -0.002776 deg/s,
      cmd heading: 332.969263 deg,
      new cmd heading: 332.965416 deg.

2025-10-25T03:57:55.902Z,1761364675.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811343 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:56.279Z,1761364676.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894271,0.447245,-0.015881],[-0.446346,0.888773,-0.104202],[-0.032489,0.100273,0.994429]]
2025-10-25T03:57:56.392Z,1761364676.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:56.411Z,1761364676.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 286.338348 m,
      bearing: 328.324094 deg,
      approach rate: -0.596884 m/s,
      LOS rate: -0.003246 deg/s,
      cmd heading: 332.965411 deg,
      new cmd heading: 332.960587 deg.

2025-10-25T03:57:56.412Z,1761364676.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811258 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:56.713Z,1761364676.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:56.716Z,1761364676.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:56.723Z,1761364676.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 286.153595 m,
      bearing: 328.323089 deg,
      approach rate: -0.571353 m/s,
      LOS rate: -0.003111 deg/s,
      cmd heading: 332.960575 deg,
      new cmd heading: 332.957557 deg.

2025-10-25T03:57:56.751Z,1761364676.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811206 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:56.798Z,1761364676.798 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:57:56.798Z,1761364676.798 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:57:56.799Z,1761364676.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:57:57.050Z,1761364677.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990955
2025-10-25T03:57:57.084Z,1761364677.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896192,0.443516,-0.011557],[-0.442060,0.890428,-0.108267],[-0.037727,0.102137,0.994055]]
2025-10-25T03:57:57.139Z,1761364677.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:57.146Z,1761364677.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 285.915649 m,
      bearing: 328.321569 deg,
      approach rate: -0.561174 m/s,
      LOS rate: -0.003589 deg/s,
      cmd heading: 332.957570 deg,
      new cmd heading: 332.953004 deg.

2025-10-25T03:57:57.147Z,1761364677.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811126 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:57.186Z,1761364677.186 [CTD_Seabird](ERROR): Failed to parse device response: 58.28,11.3078,2
2025-10-25T03:57:57.306Z,1761364677.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246449
2025-10-25T03:57:57.554Z,1761364677.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495036
2025-10-25T03:57:57.570Z,1761364677.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896721,0.442494,-0.009494],[-0.440780,0.890895,-0.109631],[-0.040053,0.102493,0.993927]]
2025-10-25T03:57:57.674Z,1761364677.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:57.677Z,1761364677.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 285.624573 m,
      bearing: 328.315291 deg,
      approach rate: -0.544393 m/s,
      LOS rate: -0.011753 deg/s,
      cmd heading: 332.953007 deg,
      new cmd heading: 332.934155 deg.

2025-10-25T03:57:57.678Z,1761364677.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810797 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:57.806Z,1761364677.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746965
2025-10-25T03:57:57.930Z,1761364677.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897078,0.441811,-0.007375],[-0.439885,0.891337,-0.109635],[-0.041864,0.101596,0.993945]]
2025-10-25T03:57:57.953Z,1761364677.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:57.955Z,1761364677.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 285.474548 m,
      bearing: 328.312020 deg,
      approach rate: -0.538397 m/s,
      LOS rate: -0.011743 deg/s,
      cmd heading: 332.934156 deg,
      new cmd heading: 332.924340 deg.

2025-10-25T03:57:57.956Z,1761364677.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810626 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:58.058Z,1761364678.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999141
2025-10-25T03:57:58.310Z,1761364678.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251712
2025-10-25T03:57:58.397Z,1761364678.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897053,0.441898,-0.004791],[-0.439765,0.891548,-0.108395],[-0.043628,0.099343,0.994096]]
2025-10-25T03:57:58.442Z,1761364678.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:58.445Z,1761364678.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 285.223175 m,
      bearing: 328.306405 deg,
      approach rate: -0.513512 m/s,
      LOS rate: -0.011482 deg/s,
      cmd heading: 332.924348 deg,
      new cmd heading: 332.907486 deg.

2025-10-25T03:57:58.446Z,1761364678.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810332 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:58.566Z,1761364678.566 [DAT](INFO): DAT read: Rx Time:03:57:57.4738

2025-10-25T03:57:58.566Z,1761364678.566 [DAT](INFO): Rx dataTimestamp_ set to:1761364678.565709
2025-10-25T03:57:58.567Z,1761364678.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508004
2025-10-25T03:57:58.732Z,1761364678.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896987,0.442044,-0.003273],[-0.439738,0.891502,-0.108875],[-0.045209,0.099099,0.994050]]
2025-10-25T03:57:58.761Z,1761364678.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:57:58.763Z,1761364678.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.36 m.
2025-10-25T03:57:58.767Z,1761364678.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.355438 m,
      nav range: 285.058533 m,
      bearing: 328.302722 deg,
      approach rate: -0.513167 m/s,
      LOS rate: -0.011485 deg/s,
      cmd heading: 332.907491 deg,
      new cmd heading: 332.896436 deg.

2025-10-25T03:57:58.768Z,1761364678.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810139 target range: 312.355438 and range: 313.70 m.
2025-10-25T03:57:58.815Z,1761364678.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755980
2025-10-25T03:57:59.075Z,1761364679.075 [DAT](INFO): DAT read: 03:57:57.4738 LVL= 21328, 29345, 17906, 32755, AGC= 68, IDX= 414, 0.06,-0.278,-1.871,-0.291,-0.963, PHS= 0.773,-0.861, 0.670, RAW= 146.8,  -7.4, CAL= 152.6, -16.1, ROT= 357.4,  16.1

2025-10-25T03:57:59.076Z,1761364679.076 [DAT](INFO): got valid direction response:
 03:57:57.4738 LVL= 21328, 29345, 17906, 32755, AGC= 68, IDX= 414, 0.06,-0.278,-1.871,-0.291,-0.963, PHS= 0.773,-0.861, 0.670, RAW= 146.8,  -7.4, CAL= 152.6, -16.1, ROT= 357.4,  16.1

2025-10-25T03:57:59.077Z,1761364679.077 [DAT](INFO): DAT read: Bearing 357.4,  16.1 (Local)

2025-10-25T03:57:59.078Z,1761364679.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  16.1 (Local)

2025-10-25T03:57:59.079Z,1761364679.079 [DAT](INFO): DAT read: Range 10 to 50 : 299.2 m  (Round-trip  399.0 ms) speed  0.8 m/s

2025-10-25T03:57:59.080Z,1761364679.080 [DAT](INFO): DAT read: user:221>

2025-10-25T03:57:59.085Z,1761364679.085 [DAT](INFO): DAT read: Tx time:03:57:58.5707

2025-10-25T03:57:59.086Z,1761364679.086 [DAT](INFO): Ping request sent.
2025-10-25T03:57:59.086Z,1761364679.086 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:57:59.086Z,1761364679.086 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:57:59.087Z,1761364679.087 [DAT](INFO): direction in FSK: [0.959790,-0.043584,-0.277315]
2025-10-25T03:57:59.087Z,1761364679.087 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:59.088Z,1761364679.088 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:59.103Z,1761364679.103 [DAT](INFO): publishing transmit ping time
2025-10-25T03:57:59.103Z,1761364679.103 [DAT](INFO): publishing direction and range info
2025-10-25T03:57:59.166Z,1761364679.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896725,0.442587,-0.001353],[-0.440092,0.891339,-0.108784],[-0.046941,0.098145,0.994064]]
2025-10-25T03:57:59.251Z,1761364679.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.200012 m,
      deltaT: 4.029225 s,
      deltaX: -14.500000 m,
      approachRate: -3.598707 m/s,
      rangeRepo size: 4

2025-10-25T03:57:59.257Z,1761364679.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.944489 m,
      bearing: 332.882212 deg,
      lat: 36.779390 deg,
      lon: -121.860003 deg,
      deltaT: 4.029225 s,
      deltaX: -14.410950 m,
      approachRate: -3.576606 m/s,
      posRepo size: 4

2025-10-25T03:57:59.258Z,1761364679.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:57:59.265Z,1761364679.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 288.953125 m,
      bearing: 328.800879 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011485 deg/s,
      cmd heading: 332.896426 deg,
      new cmd heading: 332.879633 deg.

2025-10-25T03:57:59.266Z,1761364679.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809845 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:57:59.321Z,1761364679.321 [DAT](INFO): DAT read: TxSync time:03:57:58.5699

2025-10-25T03:57:59.618Z,1761364679.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:57:59.625Z,1761364679.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 288.748016 m,
      bearing: 328.795912 deg,
      approach rate: -0.557700 m/s,
      LOS rate: -0.013514 deg/s,
      cmd heading: 332.879624 deg,
      new cmd heading: 332.864713 deg.

2025-10-25T03:57:59.626Z,1761364679.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809585 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:57:59.949Z,1761364679.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896716,0.442534,0.007969],[-0.439884,0.893050,-0.094676],[-0.049014,0.081392,0.995476]]
2025-10-25T03:57:59.979Z,1761364679.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:57:59.983Z,1761364679.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 288.559784 m,
      bearing: 328.791339 deg,
      approach rate: -0.521769 m/s,
      LOS rate: -0.012683 deg/s,
      cmd heading: 332.864707 deg,
      new cmd heading: 332.850981 deg.

2025-10-25T03:57:59.984Z,1761364679.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809346 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:00.375Z,1761364680.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896965,0.442018,0.008615],[-0.439176,0.893096,-0.097492],[-0.050787,0.083663,0.995199]]
2025-10-25T03:58:00.471Z,1761364680.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:00.478Z,1761364680.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 288.319000 m,
      bearing: 328.786346 deg,
      approach rate: -0.489142 m/s,
      LOS rate: -0.010153 deg/s,
      cmd heading: 332.850992 deg,
      new cmd heading: 332.835998 deg.

2025-10-25T03:58:00.479Z,1761364680.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809084 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:00.758Z,1761364680.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897683,0.440541,0.009387],[-0.437483,0.893593,-0.100502],[-0.052663,0.086112,0.994893]]
2025-10-25T03:58:00.775Z,1761364680.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:00.778Z,1761364680.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:00.780Z,1761364680.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 288.160553 m,
      bearing: 328.782996 deg,
      approach rate: -0.516873 m/s,
      LOS rate: -0.010933 deg/s,
      cmd heading: 332.835993 deg,
      new cmd heading: 332.825938 deg.

2025-10-25T03:58:00.782Z,1761364680.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808908 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:00.829Z,1761364680.829 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:00.830Z,1761364680.830 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:00.830Z,1761364680.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:01.082Z,1761364681.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995576
2025-10-25T03:58:01.162Z,1761364681.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899056,0.437711,0.010377],[-0.434362,0.894655,-0.104506],[-0.055027,0.089450,0.994470]]
2025-10-25T03:58:01.209Z,1761364681.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:01.211Z,1761364681.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 287.950104 m,
      bearing: 328.778396 deg,
      approach rate: -0.488906 m/s,
      LOS rate: -0.010695 deg/s,
      cmd heading: 332.825938 deg,
      new cmd heading: 332.812128 deg.

2025-10-25T03:58:01.213Z,1761364681.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808668 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:01.335Z,1761364681.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249336
2025-10-25T03:58:01.570Z,1761364681.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899495,0.436781,0.011435],[-0.433210,0.894938,-0.106839],[-0.056899,0.091148,0.994211]]
2025-10-25T03:58:01.586Z,1761364681.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499675
2025-10-25T03:58:01.636Z,1761364681.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:01.639Z,1761364681.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 287.743286 m,
      bearing: 328.774676 deg,
      approach rate: -0.483702 m/s,
      LOS rate: -0.008706 deg/s,
      cmd heading: 332.812141 deg,
      new cmd heading: 332.800974 deg.

2025-10-25T03:58:01.640Z,1761364681.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808473 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:01.837Z,1761364681.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751527
2025-10-25T03:58:01.976Z,1761364681.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899418,0.436921,0.012135],[-0.433187,0.894745,-0.108536],[-0.058279,0.092363,0.994018]]
2025-10-25T03:58:02.025Z,1761364682.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:02.027Z,1761364682.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 287.556519 m,
      bearing: 328.771312 deg,
      approach rate: -0.485469 m/s,
      LOS rate: -0.008749 deg/s,
      cmd heading: 332.800967 deg,
      new cmd heading: 332.790869 deg.

2025-10-25T03:58:02.028Z,1761364682.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808296 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:02.090Z,1761364682.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003819
2025-10-25T03:58:02.342Z,1761364682.342 [DAT](INFO): DAT read: Rx Time:03:58:01.3716

2025-10-25T03:58:02.342Z,1761364682.342 [DAT](INFO): Rx dataTimestamp_ set to:1761364682.341806
2025-10-25T03:58:02.343Z,1761364682.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256710
2025-10-25T03:58:02.453Z,1761364682.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899405,0.436934,0.012587],[-0.433130,0.894715,-0.109008],[-0.058892,0.092591,0.993961]]
2025-10-25T03:58:02.527Z,1761364682.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.94 m.
2025-10-25T03:58:02.534Z,1761364682.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.944489 m,
      nav range: 287.303497 m,
      bearing: 328.767569 deg,
      approach rate: -0.499775 m/s,
      LOS rate: -0.007400 deg/s,
      cmd heading: 332.790859 deg,
      new cmd heading: 332.779620 deg.

2025-10-25T03:58:02.535Z,1761364682.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808100 target range: 297.944489 and range: 299.20 m.
2025-10-25T03:58:02.595Z,1761364682.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508674
2025-10-25T03:58:02.858Z,1761364682.858 [DAT](INFO): DAT read: 03:58:01.3716 LVL= 28848, 32753, 23762, 32755, AGC= 64, IDX= 411,-0.15, 0.056,-1.196, 0.095,-0.122, PHS= 0.266,-1.026, 0.215, RAW= 148.0,   8.7, CAL= 149.0,   0.0, ROT=   1.0,  -0.0

2025-10-25T03:58:02.859Z,1761364682.859 [DAT](INFO): got valid direction response:
 03:58:01.3716 LVL= 28848, 32753, 23762, 32755, AGC= 64, IDX= 411,-0.15, 0.056,-1.196, 0.095,-0.122, PHS= 0.266,-1.026, 0.215, RAW= 148.0,   8.7, CAL= 149.0,   0.0, ROT=   1.0,  -0.0

2025-10-25T03:58:02.860Z,1761364682.860 [DAT](INFO): DAT read: Bearing   1.0,  -0.0 (Local)

2025-10-25T03:58:02.860Z,1761364682.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -0.0 (Local)

2025-10-25T03:58:02.871Z,1761364682.871 [DAT](INFO): DAT read: Range 10 to 50 : 297.5 m  (Round-trip  396.7 ms) speed  0.3 m/s

2025-10-25T03:58:02.871Z,1761364682.871 [DAT](INFO): DAT read: user:222>

2025-10-25T03:58:02.872Z,1761364682.872 [DAT](INFO): DAT read: Tx time:03:58:02.4708

2025-10-25T03:58:02.897Z,1761364682.897 [DAT](INFO): Ping request sent.
2025-10-25T03:58:02.897Z,1761364682.897 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:02.897Z,1761364682.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:02.899Z,1761364682.899 [DAT](INFO): direction in FSK: [0.999848,0.017452,0.000000]
2025-10-25T03:58:02.900Z,1761364682.900 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:02.900Z,1761364682.900 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:02.925Z,1761364682.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899524,0.436662,0.013528],[-0.432757,0.894866,-0.109250],[-0.059811,0.092418,0.993922]]
2025-10-25T03:58:02.939Z,1761364682.939 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:02.939Z,1761364682.939 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:02.992Z,1761364682.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.500000 m,
      deltaT: 3.781482 s,
      deltaX: -1.700012 m,
      approachRate: -0.449562 m/s,
      rangeRepo size: 4

2025-10-25T03:58:03.002Z,1761364683.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 296.254028 m,
      bearing: 335.305374 deg,
      lat: 36.779390 deg,
      lon: -121.860003 deg,
      deltaT: 3.781482 s,
      deltaX: -1.690460 m,
      approachRate: -0.447036 m/s,
      posRepo size: 4

2025-10-25T03:58:03.003Z,1761364683.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:03.011Z,1761364683.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 287.121185 m,
      bearing: 328.768569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007400 deg/s,
      cmd heading: 332.779630 deg,
      new cmd heading: 332.769317 deg.

2025-10-25T03:58:03.011Z,1761364683.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807920 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:03.098Z,1761364683.098 [DAT](INFO): DAT read: TxSync time:03:58:02.4700

2025-10-25T03:58:03.306Z,1761364683.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899509,0.436652,0.014758],[-0.432627,0.894915,-0.109365],[-0.060962,0.091990,0.993892]]
2025-10-25T03:58:03.340Z,1761364683.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:03.343Z,1761364683.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:03.350Z,1761364683.350 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:03.350Z,1761364683.350 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:03.350Z,1761364683.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:03.354Z,1761364683.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 286.934052 m,
      bearing: 328.765776 deg,
      approach rate: -0.532130 m/s,
      LOS rate: -0.007946 deg/s,
      cmd heading: 332.769330 deg,
      new cmd heading: 332.760947 deg.

2025-10-25T03:58:03.355Z,1761364683.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807774 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:03.602Z,1761364683.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729099
2025-10-25T03:58:03.702Z,1761364683.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897893,0.440098,0.010090],[-0.436040,0.892294,-0.116967],[-0.060480,0.100624,0.993085]]
2025-10-25T03:58:03.767Z,1761364683.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:03.778Z,1761364683.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 286.723877 m,
      bearing: 328.764208 deg,
      approach rate: -0.495522 m/s,
      LOS rate: -0.003700 deg/s,
      cmd heading: 332.760942 deg,
      new cmd heading: 332.756234 deg.

2025-10-25T03:58:03.779Z,1761364683.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807692 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:03.854Z,1761364683.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981486
2025-10-25T03:58:04.097Z,1761364684.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895966,0.443974,0.011467],[-0.439950,0.890784,-0.113791],[-0.060735,0.096908,0.993438]]
2025-10-25T03:58:04.107Z,1761364684.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234689
2025-10-25T03:58:04.144Z,1761364684.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:04.146Z,1761364684.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 286.533264 m,
      bearing: 328.762952 deg,
      approach rate: -0.506238 m/s,
      LOS rate: -0.003338 deg/s,
      cmd heading: 332.756243 deg,
      new cmd heading: 332.752473 deg.

2025-10-25T03:58:04.147Z,1761364684.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807626 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:04.360Z,1761364684.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487888
2025-10-25T03:58:04.503Z,1761364684.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894610,0.446649,0.013327],[-0.442570,0.889769,-0.111549],[-0.061681,0.093895,0.993670]]
2025-10-25T03:58:04.545Z,1761364684.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:04.547Z,1761364684.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 286.328247 m,
      bearing: 328.762501 deg,
      approach rate: -0.511437 m/s,
      LOS rate: -0.001124 deg/s,
      cmd heading: 332.752473 deg,
      new cmd heading: 332.751121 deg.

2025-10-25T03:58:04.569Z,1761364684.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807603 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:04.611Z,1761364684.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737769
2025-10-25T03:58:04.862Z,1761364684.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989048
2025-10-25T03:58:04.901Z,1761364684.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893959,0.447877,0.015576],[-0.443669,0.889393,-0.110174],[-0.063198,0.091580,0.993790]]
2025-10-25T03:58:04.940Z,1761364684.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:04.943Z,1761364684.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 286.136475 m,
      bearing: 328.762130 deg,
      approach rate: -0.484582 m/s,
      LOS rate: -0.000938 deg/s,
      cmd heading: 332.751134 deg,
      new cmd heading: 332.750021 deg.

2025-10-25T03:58:04.944Z,1761364684.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807583 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:05.114Z,1761364685.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241160
2025-10-25T03:58:05.316Z,1761364685.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893688,0.448357,0.017235],[-0.444051,0.889306,-0.109333],[-0.064348,0.090057,0.993856]]
2025-10-25T03:58:05.335Z,1761364685.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:05.339Z,1761364685.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 285.924164 m,
      bearing: 328.761740 deg,
      approach rate: -0.537445 m/s,
      LOS rate: -0.000988 deg/s,
      cmd heading: 332.750014 deg,
      new cmd heading: 332.748843 deg.

2025-10-25T03:58:05.340Z,1761364685.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807563 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:05.366Z,1761364685.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494023
2025-10-25T03:58:05.618Z,1761364685.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745483
2025-10-25T03:58:05.708Z,1761364685.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893395,0.448908,0.018064],[-0.444543,0.889096,-0.109042],[-0.065011,0.089388,0.993873]]
2025-10-25T03:58:05.780Z,1761364685.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:05.787Z,1761364685.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:05.797Z,1761364685.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 285.693787 m,
      bearing: 328.762234 deg,
      approach rate: -0.510328 m/s,
      LOS rate: 0.001094 deg/s,
      cmd heading: 332.748839 deg,
      new cmd heading: 332.750321 deg.

2025-10-25T03:58:05.799Z,1761364685.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807589 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:05.871Z,1761364685.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998189
2025-10-25T03:58:06.111Z,1761364686.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893309,0.449073,0.018245],[-0.444670,0.888993,-0.109359],[-0.065329,0.089578,0.993835]]
2025-10-25T03:58:06.122Z,1761364686.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249134
2025-10-25T03:58:06.170Z,1761364686.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:06.172Z,1761364686.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 285.506226 m,
      bearing: 328.762642 deg,
      approach rate: -0.496150 m/s,
      LOS rate: 0.001080 deg/s,
      cmd heading: 332.750315 deg,
      new cmd heading: 332.751540 deg.

2025-10-25T03:58:06.177Z,1761364686.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807610 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:06.374Z,1761364686.374 [DAT](INFO): DAT read: Rx Time:03:58:05.2874

2025-10-25T03:58:06.374Z,1761364686.374 [DAT](INFO): Rx dataTimestamp_ set to:1761364686.373695
2025-10-25T03:58:06.375Z,1761364686.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502068
2025-10-25T03:58:06.543Z,1761364686.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893338,0.449013,0.018300],[-0.444582,0.888993,-0.109721],[-0.065534,0.089882,0.993794]]
2025-10-25T03:58:06.626Z,1761364686.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753189
2025-10-25T03:58:06.646Z,1761364686.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.25 m.
2025-10-25T03:58:06.658Z,1761364686.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.254028 m,
      nav range: 285.244141 m,
      bearing: 328.763578 deg,
      approach rate: -0.544270 m/s,
      LOS rate: 0.001947 deg/s,
      cmd heading: 332.751544 deg,
      new cmd heading: 332.754357 deg.

2025-10-25T03:58:06.659Z,1761364686.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807659 target range: 296.254028 and range: 297.50 m.
2025-10-25T03:58:06.895Z,1761364686.895 [DAT](INFO): DAT read: 03:58:05.2874 LVL= 12080, 15681, 11698, 17187, AGC= 67, IDX=  91, 0.24,-0.889,-2.062,-0.829,-1.489, PHS= 0.688,-0.527, 0.656, RAW= 148.7, -13.6, CAL= 155.5, -21.4, ROT= 354.5,  21.4

2025-10-25T03:58:06.902Z,1761364686.902 [DAT](INFO): got valid direction response:
 03:58:05.2874 LVL= 12080, 15681, 11698, 17187, AGC= 67, IDX=  91, 0.24,-0.889,-2.062,-0.829,-1.489, PHS= 0.688,-0.527, 0.656, RAW= 148.7, -13.6, CAL= 155.5, -21.4, ROT= 354.5,  21.4

2025-10-25T03:58:06.904Z,1761364686.904 [DAT](INFO): DAT read: Bearing 354.5,  21.4 (Local)

2025-10-25T03:58:06.909Z,1761364686.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  21.4 (Local)

2025-10-25T03:58:06.911Z,1761364686.911 [DAT](INFO): DAT read: Range 10 to 50 : 309.3 m  (Round-trip  412.5 ms) speed  0.4 m/s

2025-10-25T03:58:06.917Z,1761364686.917 [DAT](INFO): DAT read: user:223>

2025-10-25T03:58:06.917Z,1761364686.917 [DAT](INFO): DAT read: Tx time:03:58:06.3708

2025-10-25T03:58:06.918Z,1761364686.918 [DAT](INFO): Ping request sent.
2025-10-25T03:58:06.918Z,1761364686.918 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:06.918Z,1761364686.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:06.919Z,1761364686.919 [DAT](INFO): direction in FSK: [0.926769,-0.089238,-0.364877]
2025-10-25T03:58:06.919Z,1761364686.919 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:06.920Z,1761364686.920 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:06.983Z,1761364686.983 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:06.983Z,1761364686.983 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:07.111Z,1761364687.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893130,0.449424,0.018339],[-0.444991,0.888796,-0.109659],[-0.065583,0.089779,0.993800]]
2025-10-25T03:58:07.130Z,1761364687.130 [DAT](INFO): DAT read: TxSync time:03:58:06.3700

2025-10-25T03:58:07.179Z,1761364687.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.299988 m,
      deltaT: 4.031535 s,
      deltaX: 11.799988 m,
      approachRate: 2.926922 m/s,
      rangeRepo size: 4

2025-10-25T03:58:07.185Z,1761364687.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.000580 m,
      bearing: 329.953970 deg,
      lat: 36.779390 deg,
      lon: -121.859906 deg,
      deltaT: 4.031535 s,
      deltaX: 11.746552 m,
      approachRate: 2.913667 m/s,
      posRepo size: 4

2025-10-25T03:58:07.186Z,1761364687.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:07.197Z,1761364687.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 280.572876 m,
      bearing: 330.274241 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001947 deg/s,
      cmd heading: 332.754358 deg,
      new cmd heading: 332.757467 deg.

2025-10-25T03:58:07.198Z,1761364687.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807714 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:07.530Z,1761364687.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892519,0.450702,0.016642],[-0.446419,0.888085,-0.109613],[-0.064182,0.090402,0.993835]]
2025-10-25T03:58:07.588Z,1761364687.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:07.591Z,1761364687.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 280.344452 m,
      bearing: 330.276844 deg,
      approach rate: -0.557597 m/s,
      LOS rate: 0.006361 deg/s,
      cmd heading: 332.757473 deg,
      new cmd heading: 332.765290 deg.

2025-10-25T03:58:07.592Z,1761364687.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807850 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:07.984Z,1761364687.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892640,0.450360,0.019234],[-0.446371,0.889070,-0.101527],[-0.062824,0.082042,0.994647]]
2025-10-25T03:58:08.051Z,1761364688.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:08.053Z,1761364688.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:08.056Z,1761364688.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 280.093079 m,
      bearing: 330.279716 deg,
      approach rate: -0.540320 m/s,
      LOS rate: 0.006179 deg/s,
      cmd heading: 332.765286 deg,
      new cmd heading: 332.773911 deg.

2025-10-25T03:58:08.057Z,1761364688.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808001 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:08.137Z,1761364688.137 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:08.138Z,1761364688.138 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:08.138Z,1761364688.138 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:08.385Z,1761364688.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894068,0.447652,0.015802],[-0.443779,0.890022,-0.104507],[-0.060847,0.086423,0.994399]]
2025-10-25T03:58:08.390Z,1761364688.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471746
2025-10-25T03:58:08.425Z,1761364688.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:08.428Z,1761364688.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 279.890411 m,
      bearing: 330.281908 deg,
      approach rate: -0.544797 m/s,
      LOS rate: 0.005897 deg/s,
      cmd heading: 332.773920 deg,
      new cmd heading: 332.780501 deg.

2025-10-25T03:58:08.435Z,1761364688.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808115 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:08.642Z,1761364688.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723883
2025-10-25T03:58:08.793Z,1761364688.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895101,0.445631,0.014406],[-0.441765,0.890780,-0.106556],[-0.060318,0.089014,0.994202]]
2025-10-25T03:58:08.859Z,1761364688.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:08.867Z,1761364688.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 279.644287 m,
      bearing: 330.285495 deg,
      approach rate: -0.568250 m/s,
      LOS rate: 0.008288 deg/s,
      cmd heading: 332.780504 deg,
      new cmd heading: 332.791273 deg.

2025-10-25T03:58:08.867Z,1761364688.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808303 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:08.894Z,1761364688.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975799
2025-10-25T03:58:09.146Z,1761364689.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228472
2025-10-25T03:58:09.207Z,1761364689.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895509,0.444866,0.012584],[-0.441102,0.890977,-0.107649],[-0.059102,0.090850,0.994109]]
2025-10-25T03:58:09.229Z,1761364689.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:09.232Z,1761364689.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 279.436859 m,
      bearing: 330.288488 deg,
      approach rate: -0.559283 m/s,
      LOS rate: 0.008076 deg/s,
      cmd heading: 332.791268 deg,
      new cmd heading: 332.800254 deg.

2025-10-25T03:58:09.234Z,1761364689.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808460 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:09.398Z,1761364689.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479583
2025-10-25T03:58:09.601Z,1761364689.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895384,0.445160,0.010944],[-0.441566,0.890791,-0.107290],[-0.057510,0.091233,0.994168]]
2025-10-25T03:58:09.645Z,1761364689.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:09.647Z,1761364689.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 279.204468 m,
      bearing: 330.291515 deg,
      approach rate: -0.560137 m/s,
      LOS rate: 0.007303 deg/s,
      cmd heading: 332.800257 deg,
      new cmd heading: 332.809347 deg.

2025-10-25T03:58:09.667Z,1761364689.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749244
2025-10-25T03:58:09.673Z,1761364689.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808619 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:09.917Z,1761364689.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999619
2025-10-25T03:58:10.002Z,1761364690.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895075,0.445819,0.009239],[-0.442427,0.890470,-0.106406],[-0.055665,0.091154,0.994280]]
2025-10-25T03:58:10.027Z,1761364690.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:10.030Z,1761364690.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 278.992798 m,
      bearing: 330.294317 deg,
      approach rate: -0.553348 m/s,
      LOS rate: 0.007328 deg/s,
      cmd heading: 332.809355 deg,
      new cmd heading: 332.817764 deg.

2025-10-25T03:58:10.031Z,1761364690.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808766 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:10.170Z,1761364690.170 [DAT](INFO): DAT read: Rx Time:03:58:09.1826

2025-10-25T03:58:10.170Z,1761364690.170 [DAT](INFO): Rx dataTimestamp_ set to:1761364690.169739
2025-10-25T03:58:10.171Z,1761364690.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252715
2025-10-25T03:58:10.411Z,1761364690.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894131,0.447760,0.006347],[-0.444778,0.889644,-0.103470],[-0.051976,0.089692,0.994612]]
2025-10-25T03:58:10.422Z,1761364690.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503825
2025-10-25T03:58:10.443Z,1761364690.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:10.445Z,1761364690.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.00 m.
2025-10-25T03:58:10.449Z,1761364690.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.000580 m,
      nav range: 278.761383 m,
      bearing: 330.297504 deg,
      approach rate: -0.552998 m/s,
      LOS rate: 0.007623 deg/s,
      cmd heading: 332.817770 deg,
      new cmd heading: 332.827340 deg.

2025-10-25T03:58:10.450Z,1761364690.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808933 target range: 308.000580 and range: 309.30 m.
2025-10-25T03:58:10.687Z,1761364690.687 [DAT](INFO): DAT read: 03:58:09.1826 LVL= 23280, 22689, 21362, 32755, AGC= 65, IDX= 394, 0.49, 0.608,-0.786, 0.728, 0.065, PHS= 0.631,-0.804, 0.659, RAW= 151.0,  -6.8, CAL= 156.2, -14.9, ROT= 353.8,  14.9

2025-10-25T03:58:10.688Z,1761364690.688 [DAT](INFO): got valid direction response:
 03:58:09.1826 LVL= 23280, 22689, 21362, 32755, AGC= 65, IDX= 394, 0.49, 0.608,-0.786, 0.728, 0.065, PHS= 0.631,-0.804, 0.659, RAW= 151.0,  -6.8, CAL= 156.2, -14.9, ROT= 353.8,  14.9

2025-10-25T03:58:10.690Z,1761364690.690 [DAT](INFO): DAT read: Bearing 353.8,  14.9 (Local)

2025-10-25T03:58:10.690Z,1761364690.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  14.9 (Local)

2025-10-25T03:58:10.692Z,1761364690.692 [DAT](INFO): DAT read: Range 10 to 50 : 305.7 m  (Round-trip  407.7 ms) speed  0.3 m/s

2025-10-25T03:58:10.701Z,1761364690.701 [DAT](INFO): DAT read: user:224>

2025-10-25T03:58:10.702Z,1761364690.702 [DAT](INFO): DAT read: Tx time:03:58:10.2708

2025-10-25T03:58:10.702Z,1761364690.702 [DAT](INFO): Ping request sent.
2025-10-25T03:58:10.702Z,1761364690.702 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:10.702Z,1761364690.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:10.703Z,1761364690.703 [DAT](INFO): direction in FSK: [0.960724,-0.104368,-0.257133]
2025-10-25T03:58:10.703Z,1761364690.703 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:10.704Z,1761364690.704 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:10.711Z,1761364690.711 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:10.711Z,1761364690.711 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:10.813Z,1761364690.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893602,0.448834,0.004802],[-0.446060,0.889171,-0.102003],[-0.050053,0.089008,0.994772]]
2025-10-25T03:58:10.910Z,1761364690.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.700012 m,
      deltaT: 3.798753 s,
      deltaX: -3.599976 m,
      approachRate: -0.947673 m/s,
      rangeRepo size: 4

2025-10-25T03:58:10.912Z,1761364690.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.413116 m,
      bearing: 328.578021 deg,
      lat: 36.779423 deg,
      lon: -121.859906 deg,
      deltaT: 3.798753 s,
      deltaX: -3.587463 m,
      approachRate: -0.944379 m/s,
      posRepo size: 4

2025-10-25T03:58:10.921Z,1761364690.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:10.924Z,1761364690.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 281.644775 m,
      bearing: 330.662950 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007623 deg/s,
      cmd heading: 332.827332 deg,
      new cmd heading: 332.837949 deg.

2025-10-25T03:58:10.927Z,1761364690.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809118 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:10.930Z,1761364690.930 [DAT](INFO): DAT read: TxSync time:03:58:10.2700

2025-10-25T03:58:11.212Z,1761364691.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892842,0.450367,0.001494],[-0.447949,0.888383,-0.100581],[-0.046626,0.089134,0.994928]]
2025-10-25T03:58:11.265Z,1761364691.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:11.274Z,1761364691.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 281.447144 m,
      bearing: 330.665882 deg,
      approach rate: -0.563156 m/s,
      LOS rate: 0.008362 deg/s,
      cmd heading: 332.837960 deg,
      new cmd heading: 332.846763 deg.

2025-10-25T03:58:11.275Z,1761364691.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809272 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:11.617Z,1761364691.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893678,0.448706,0.001463],[-0.446515,0.889627,-0.095849],[-0.044309,0.085005,0.995395]]
2025-10-25T03:58:11.669Z,1761364691.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:11.672Z,1761364691.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 281.220520 m,
      bearing: 330.668146 deg,
      approach rate: -0.555191 m/s,
      LOS rate: 0.005549 deg/s,
      cmd heading: 332.846757 deg,
      new cmd heading: 332.853552 deg.

2025-10-25T03:58:11.693Z,1761364691.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809391 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:12.021Z,1761364692.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893822,0.448421,-0.000460],[-0.446414,0.889722,-0.095441],[-0.042389,0.085512,0.995435]]
2025-10-25T03:58:12.062Z,1761364692.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:12.067Z,1761364692.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 281.017456 m,
      bearing: 330.670170 deg,
      approach rate: -0.515574 m/s,
      LOS rate: 0.005143 deg/s,
      cmd heading: 332.853560 deg,
      new cmd heading: 332.859636 deg.

2025-10-25T03:58:12.068Z,1761364692.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809496 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:12.426Z,1761364692.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893655,0.448752,-0.001317],[-0.446828,0.889544,-0.095162],[-0.041532,0.085630,0.995461]]
2025-10-25T03:58:12.451Z,1761364692.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:12.453Z,1761364692.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:12.455Z,1761364692.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 280.796936 m,
      bearing: 330.672391 deg,
      approach rate: -0.565226 m/s,
      LOS rate: 0.005697 deg/s,
      cmd heading: 332.859625 deg,
      new cmd heading: 332.866293 deg.

2025-10-25T03:58:12.457Z,1761364692.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809613 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:12.699Z,1761364692.699 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:12.699Z,1761364692.699 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:12.699Z,1761364692.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:12.891Z,1761364692.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:12.894Z,1761364692.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 280.558472 m,
      bearing: 330.674215 deg,
      approach rate: -0.544178 m/s,
      LOS rate: 0.004167 deg/s,
      cmd heading: 332.866291 deg,
      new cmd heading: 332.871769 deg.

2025-10-25T03:58:12.895Z,1761364692.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809709 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:12.951Z,1761364692.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248521
2025-10-25T03:58:13.202Z,1761364693.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499663
2025-10-25T03:58:13.232Z,1761364693.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893178,0.449681,-0.004399],[-0.447935,0.888758,-0.097285],[-0.039838,0.088864,0.995247]]
2025-10-25T03:58:13.278Z,1761364693.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:13.286Z,1761364693.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 280.362854 m,
      bearing: 330.675760 deg,
      approach rate: -0.505830 m/s,
      LOS rate: 0.003999 deg/s,
      cmd heading: 332.871783 deg,
      new cmd heading: 332.876422 deg.

2025-10-25T03:58:13.287Z,1761364693.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809790 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:13.454Z,1761364693.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751602
2025-10-25T03:58:13.722Z,1761364693.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020102
2025-10-25T03:58:13.735Z,1761364693.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:13.750Z,1761364693.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 280.122040 m,
      bearing: 330.677569 deg,
      approach rate: -0.526824 m/s,
      LOS rate: 0.003959 deg/s,
      cmd heading: 332.876427 deg,
      new cmd heading: 332.881857 deg.

2025-10-25T03:58:13.751Z,1761364693.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809885 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:13.977Z,1761364693.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274629
2025-10-25T03:58:14.044Z,1761364694.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892408,0.451176,-0.006997],[-0.449689,0.887973,-0.096350],[-0.037258,0.089130,0.995323]]
2025-10-25T03:58:14.064Z,1761364694.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:14.068Z,1761364694.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 279.928284 m,
      bearing: 330.679101 deg,
      approach rate: -0.588883 m/s,
      LOS rate: 0.004662 deg/s,
      cmd heading: 332.881864 deg,
      new cmd heading: 332.886466 deg.

2025-10-25T03:58:14.089Z,1761364694.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809965 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:14.226Z,1761364694.226 [DAT](INFO): DAT read: Rx Time:03:58:13.0806

2025-10-25T03:58:14.226Z,1761364694.226 [DAT](INFO): Rx dataTimestamp_ set to:1761364694.225885
2025-10-25T03:58:14.227Z,1761364694.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524698
2025-10-25T03:58:14.445Z,1761364694.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891942,0.452074,-0.008283],[-0.450712,0.887498,-0.095948],[-0.036024,0.089314,0.995352]]
2025-10-25T03:58:14.474Z,1761364694.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:14.476Z,1761364694.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.41 m.
2025-10-25T03:58:14.478Z,1761364694.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775586
2025-10-25T03:58:14.480Z,1761364694.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.413116 m,
      nav range: 279.708527 m,
      bearing: 330.680893 deg,
      approach rate: -0.533546 m/s,
      LOS rate: 0.004353 deg/s,
      cmd heading: 332.886454 deg,
      new cmd heading: 332.891833 deg.

2025-10-25T03:58:14.482Z,1761364694.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810059 target range: 304.413116 and range: 305.70 m.
2025-10-25T03:58:14.742Z,1761364694.742 [DAT](INFO): DAT read: 03:58:13.0806 LVL= 22576, 27697, 21586, 32755, AGC= 66, IDX= 421, 0.32,-2.179, 2.704,-2.156,-2.815, PHS= 0.724,-0.718, 0.656, RAW= 147.6,  -9.4, CAL= 154.0, -17.8, ROT= 356.0,  17.8

2025-10-25T03:58:14.743Z,1761364694.743 [DAT](INFO): got valid direction response:
 03:58:13.0806 LVL= 22576, 27697, 21586, 32755, AGC= 66, IDX= 421, 0.32,-2.179, 2.704,-2.156,-2.815, PHS= 0.724,-0.718, 0.656, RAW= 147.6,  -9.4, CAL= 154.0, -17.8, ROT= 356.0,  17.8

2025-10-25T03:58:14.744Z,1761364694.744 [DAT](INFO): DAT read: Bearing 356.0,  17.8 (Local)

2025-10-25T03:58:14.746Z,1761364694.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  17.8 (Local)

2025-10-25T03:58:14.751Z,1761364694.751 [DAT](INFO): DAT read: Range 10 to 50 : 304.2 m  (Round-trip  405.6 ms) speed  0.6 m/s

2025-10-25T03:58:14.752Z,1761364694.752 [DAT](INFO): DAT read: user:225>

2025-10-25T03:58:14.753Z,1761364694.753 [DAT](INFO): DAT read: Tx time:03:58:14.1708

2025-10-25T03:58:14.753Z,1761364694.753 [DAT](INFO): Ping request sent.
2025-10-25T03:58:14.753Z,1761364694.753 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:14.754Z,1761364694.754 [DAT](INFO): DAT read: TxSync time:03:58:14.1701

2025-10-25T03:58:14.754Z,1761364694.754 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:14.755Z,1761364694.755 [DAT](INFO): direction in FSK: [0.949810,-0.066417,-0.305695]
2025-10-25T03:58:14.756Z,1761364694.756 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:14.756Z,1761364694.756 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:14.763Z,1761364694.763 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:14.764Z,1761364694.764 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:14.850Z,1761364694.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891546,0.452823,-0.009833],[-0.451577,0.886997,-0.096510],[-0.034980,0.090484,0.995283]]
2025-10-25T03:58:14.961Z,1761364694.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.200012 m,
      deltaT: 4.052952 s,
      deltaX: -1.500000 m,
      approachRate: -0.370101 m/s,
      rangeRepo size: 4

2025-10-25T03:58:14.963Z,1761364694.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.920135 m,
      bearing: 330.789878 deg,
      lat: 36.779433 deg,
      lon: -121.859906 deg,
      deltaT: 4.052952 s,
      deltaX: -1.492981 m,
      approachRate: -0.368369 m/s,
      posRepo size: 4

2025-10-25T03:58:14.969Z,1761364694.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:14.971Z,1761364694.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 280.495117 m,
      bearing: 330.800826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004353 deg/s,
      cmd heading: 332.891836 deg,
      new cmd heading: 332.897998 deg.

2025-10-25T03:58:14.972Z,1761364694.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810166 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:15.259Z,1761364695.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890380,0.455063,-0.011860],[-0.454036,0.885893,-0.095101],[-0.032770,0.090061,0.995397]]
2025-10-25T03:58:15.321Z,1761364695.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:15.323Z,1761364695.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 280.304688 m,
      bearing: 330.802426 deg,
      approach rate: -0.516764 m/s,
      LOS rate: 0.004346 deg/s,
      cmd heading: 332.898011 deg,
      new cmd heading: 332.902815 deg.

2025-10-25T03:58:15.324Z,1761364695.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810250 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:15.718Z,1761364695.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:15.742Z,1761364695.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 280.084076 m,
      bearing: 330.803791 deg,
      approach rate: -0.548294 m/s,
      LOS rate: 0.003396 deg/s,
      cmd heading: 332.902819 deg,
      new cmd heading: 332.906918 deg.

2025-10-25T03:58:15.743Z,1761364695.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810322 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:16.186Z,1761364696.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889817,0.456040,-0.015898],[-0.455336,0.885081,-0.096439],[-0.029909,0.093052,0.995212]]
2025-10-25T03:58:16.205Z,1761364696.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:16.208Z,1761364696.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 279.830505 m,
      bearing: 330.805438 deg,
      approach rate: -0.520724 m/s,
      LOS rate: 0.003384 deg/s,
      cmd heading: 332.906917 deg,
      new cmd heading: 332.911861 deg.

2025-10-25T03:58:16.229Z,1761364696.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810408 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:16.672Z,1761364696.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890226,0.455228,-0.016260],[-0.454545,0.885424,-0.097027],[-0.029772,0.093767,0.995149]]
2025-10-25T03:58:16.727Z,1761364696.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:16.729Z,1761364696.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:16.745Z,1761364696.745 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:16.745Z,1761364696.745 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:16.745Z,1761364696.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:16.750Z,1761364696.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 279.565613 m,
      bearing: 330.805551 deg,
      approach rate: -0.505361 m/s,
      LOS rate: 0.000216 deg/s,
      cmd heading: 332.911862 deg,
      new cmd heading: 332.912202 deg.

2025-10-25T03:58:16.751Z,1761364696.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810414 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:16.998Z,1761364696.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244104
2025-10-25T03:58:17.154Z,1761364697.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891113,0.453430,-0.017834],[-0.452866,0.886135,-0.098371],[-0.028800,0.095736,0.994990]]
2025-10-25T03:58:17.174Z,1761364697.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:17.176Z,1761364697.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 279.334991 m,
      bearing: 330.805562 deg,
      approach rate: -0.519306 m/s,
      LOS rate: 0.000025 deg/s,
      cmd heading: 332.912190 deg,
      new cmd heading: 332.912224 deg.

2025-10-25T03:58:17.178Z,1761364697.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810414 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:17.251Z,1761364697.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497901
2025-10-25T03:58:17.502Z,1761364697.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748311
2025-10-25T03:58:17.555Z,1761364697.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891620,0.452384,-0.019055],[-0.451923,0.886537,-0.099086],[-0.027932,0.096958,0.994896]]
2025-10-25T03:58:17.579Z,1761364697.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:17.583Z,1761364697.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 279.129211 m,
      bearing: 330.805528 deg,
      approach rate: -0.507675 m/s,
      LOS rate: -0.000084 deg/s,
      cmd heading: 332.912217 deg,
      new cmd heading: 332.912115 deg.

2025-10-25T03:58:17.584Z,1761364697.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810412 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:17.754Z,1761364697.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000508
2025-10-25T03:58:17.952Z,1761364697.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891883,0.451807,-0.020368],[-0.451467,0.886728,-0.099457],[-0.026875,0.097900,0.994833]]
2025-10-25T03:58:18.006Z,1761364698.006 [DAT](INFO): DAT read: Rx Time:03:58:16.9607

2025-10-25T03:58:18.006Z,1761364698.006 [DAT](INFO): Rx dataTimestamp_ set to:1761364698.005923
2025-10-25T03:58:18.007Z,1761364698.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253457
2025-10-25T03:58:18.010Z,1761364698.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:18.012Z,1761364698.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 278.918457 m,
      bearing: 330.804166 deg,
      approach rate: -0.489391 m/s,
      LOS rate: -0.003166 deg/s,
      cmd heading: 332.912108 deg,
      new cmd heading: 332.908018 deg.

2025-10-25T03:58:18.013Z,1761364698.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810341 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:18.257Z,1761364698.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504211
2025-10-25T03:58:18.361Z,1761364698.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892372,0.450795,-0.021356],[-0.450566,0.887223,-0.099120],[-0.025735,0.098075,0.994846]]
2025-10-25T03:58:18.379Z,1761364698.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.92 m.
2025-10-25T03:58:18.387Z,1761364698.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.920135 m,
      nav range: 278.735687 m,
      bearing: 330.802944 deg,
      approach rate: -0.494664 m/s,
      LOS rate: -0.003308 deg/s,
      cmd heading: 332.908010 deg,
      new cmd heading: 332.904343 deg.

2025-10-25T03:58:18.391Z,1761364698.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810277 target range: 302.920135 and range: 304.20 m.
2025-10-25T03:58:18.520Z,1761364698.520 [DAT](INFO): DAT read: 03:58:16.9607 LVL= 17200, 20625, 16738, 26483, AGC= 69, IDX= 234,-0.14,-0.858,-2.340,-0.791,-1.509, PHS= 0.739,-0.785, 0.715, RAW= 149.2,  -8.9, CAL= 155.3, -17.1, ROT= 354.7,  17.1

2025-10-25T03:58:18.521Z,1761364698.521 [DAT](INFO): got valid direction response:
 03:58:16.9607 LVL= 17200, 20625, 16738, 26483, AGC= 69, IDX= 234,-0.14,-0.858,-2.340,-0.791,-1.509, PHS= 0.739,-0.785, 0.715, RAW= 149.2,  -8.9, CAL= 155.3, -17.1, ROT= 354.7,  17.1

2025-10-25T03:58:18.522Z,1761364698.522 [DAT](INFO): DAT read: Bearing 354.7,  17.1 (Local)

2025-10-25T03:58:18.522Z,1761364698.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  17.1 (Local)

2025-10-25T03:58:18.524Z,1761364698.524 [DAT](INFO): DAT read: Range 10 to 50 : 289.2 m  (Round-trip  385.7 ms) speed  0.3 m/s

2025-10-25T03:58:18.527Z,1761364698.527 [DAT](INFO): DAT read: user:226>

2025-10-25T03:58:18.528Z,1761364698.528 [DAT](INFO): DAT read: Tx time:03:58:18.0708

2025-10-25T03:58:18.529Z,1761364698.529 [DAT](INFO): Ping request sent.
2025-10-25T03:58:18.529Z,1761364698.529 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:18.529Z,1761364698.529 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:18.530Z,1761364698.530 [DAT](INFO): direction in FSK: [0.951707,-0.088287,-0.294040]
2025-10-25T03:58:18.530Z,1761364698.530 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:18.530Z,1761364698.530 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:18.543Z,1761364698.543 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:18.544Z,1761364698.544 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:18.762Z,1761364698.762 [DAT](INFO): DAT read: TxSync time:03:58:18.0701

2025-10-25T03:58:18.766Z,1761364698.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892806,0.449896,-0.022158],[-0.449779,0.887747,-0.098000],[-0.024420,0.097461,0.994940]]
2025-10-25T03:58:18.854Z,1761364698.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.200012 m,
      deltaT: 3.780321 s,
      deltaX: -15.000000 m,
      approachRate: -3.967917 m/s,
      rangeRepo size: 4

2025-10-25T03:58:18.861Z,1761364698.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 287.983429 m,
      bearing: 329.673690 deg,
      lat: 36.779433 deg,
      lon: -121.859925 deg,
      deltaT: 3.780321 s,
      deltaX: -14.936707 m,
      approachRate: -3.951174 m/s,
      posRepo size: 4

2025-10-25T03:58:18.861Z,1761364698.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:18.869Z,1761364698.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 279.330994 m,
      bearing: 330.501641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003308 deg/s,
      cmd heading: 332.904349 deg,
      new cmd heading: 332.899639 deg.

2025-10-25T03:58:18.870Z,1761364698.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810195 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:19.166Z,1761364699.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891776,0.451869,-0.023437],[-0.451968,0.887122,-0.093484],[-0.021452,0.093960,0.995345]]
2025-10-25T03:58:19.196Z,1761364699.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:19.200Z,1761364699.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:19.203Z,1761364699.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 279.146149 m,
      bearing: 330.499975 deg,
      approach rate: -0.534276 m/s,
      LOS rate: -0.004820 deg/s,
      cmd heading: 332.899650 deg,
      new cmd heading: 332.894647 deg.

2025-10-25T03:58:19.204Z,1761364699.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810108 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:19.266Z,1761364699.266 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:19.266Z,1761364699.266 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:19.267Z,1761364699.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:19.518Z,1761364699.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989126
2025-10-25T03:58:19.569Z,1761364699.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893203,0.448944,-0.025258],[-0.449210,0.888417,-0.094477],[-0.019975,0.095734,0.995207]]
2025-10-25T03:58:19.610Z,1761364699.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:19.612Z,1761364699.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 278.943237 m,
      bearing: 330.498015 deg,
      approach rate: -0.494966 m/s,
      LOS rate: -0.004785 deg/s,
      cmd heading: 332.894650 deg,
      new cmd heading: 332.888766 deg.

2025-10-25T03:58:19.613Z,1761364699.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810005 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:19.770Z,1761364699.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241194
2025-10-25T03:58:19.974Z,1761364699.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893873,0.447544,-0.026367],[-0.447932,0.889108,-0.094044],[-0.018646,0.095874,0.995219]]
2025-10-25T03:58:20.022Z,1761364700.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493156
2025-10-25T03:58:20.048Z,1761364700.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:20.055Z,1761364700.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 278.722534 m,
      bearing: 330.495131 deg,
      approach rate: -0.504332 m/s,
      LOS rate: -0.006595 deg/s,
      cmd heading: 332.888776 deg,
      new cmd heading: 332.880118 deg.

2025-10-25T03:58:20.056Z,1761364700.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809854 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:20.277Z,1761364700.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748008
2025-10-25T03:58:20.388Z,1761364700.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894794,0.445700,-0.026359],[-0.446098,0.890031,-0.094032],[-0.018450,0.095898,0.995220]]
2025-10-25T03:58:20.419Z,1761364700.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:20.442Z,1761364700.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 278.533722 m,
      bearing: 330.492580 deg,
      approach rate: -0.509845 m/s,
      LOS rate: -0.006893 deg/s,
      cmd heading: 332.880116 deg,
      new cmd heading: 332.872457 deg.

2025-10-25T03:58:20.444Z,1761364700.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809721 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:20.526Z,1761364700.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997630
2025-10-25T03:58:20.777Z,1761364700.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248963
2025-10-25T03:58:20.855Z,1761364700.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:20.858Z,1761364700.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 278.304291 m,
      bearing: 330.489861 deg,
      approach rate: -0.524307 m/s,
      LOS rate: -0.006218 deg/s,
      cmd heading: 332.872466 deg,
      new cmd heading: 332.864303 deg.

2025-10-25T03:58:20.859Z,1761364700.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809578 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:21.029Z,1761364701.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501056
2025-10-25T03:58:21.185Z,1761364701.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895339,0.444548,-0.027280],[-0.445060,0.890669,-0.092900],[-0.017001,0.095318,0.995302]]
2025-10-25T03:58:21.203Z,1761364701.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:21.206Z,1761364701.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:21.209Z,1761364701.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 278.123474 m,
      bearing: 330.487671 deg,
      approach rate: -0.515558 m/s,
      LOS rate: -0.006247 deg/s,
      cmd heading: 332.864297 deg,
      new cmd heading: 332.857724 deg.

2025-10-25T03:58:21.210Z,1761364701.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809463 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:21.283Z,1761364701.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754768
2025-10-25T03:58:21.534Z,1761364701.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005368
2025-10-25T03:58:21.589Z,1761364701.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895327,0.444524,-0.028070],[-0.445122,0.890706,-0.092246],[-0.016004,0.095085,0.995341]]
2025-10-25T03:58:21.609Z,1761364701.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:21.611Z,1761364701.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 277.915527 m,
      bearing: 330.485153 deg,
      approach rate: -0.516470 m/s,
      LOS rate: -0.006261 deg/s,
      cmd heading: 332.857713 deg,
      new cmd heading: 332.850151 deg.

2025-10-25T03:58:21.612Z,1761364701.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809331 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:21.786Z,1761364701.786 [DAT](INFO): DAT read: Rx Time:03:58:20.8748

2025-10-25T03:58:21.787Z,1761364701.787 [DAT](INFO): Rx dataTimestamp_ set to:1761364701.786295
2025-10-25T03:58:21.787Z,1761364701.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258693
2025-10-25T03:58:22.004Z,1761364702.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895334,0.444473,-0.028641],[-0.445143,0.890809,-0.091150],[-0.015000,0.094359,0.995425]]
2025-10-25T03:58:22.038Z,1761364702.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509171
2025-10-25T03:58:22.060Z,1761364702.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:22.079Z,1761364702.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 277.673798 m,
      bearing: 330.483209 deg,
      approach rate: -0.535811 m/s,
      LOS rate: -0.004311 deg/s,
      cmd heading: 332.850145 deg,
      new cmd heading: 332.844310 deg.

2025-10-25T03:58:22.080Z,1761364702.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809229 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:22.295Z,1761364702.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765856
2025-10-25T03:58:22.406Z,1761364702.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895279,0.444531,-0.029438],[-0.445289,0.890830,-0.090215],[-0.013879,0.093876,0.995487]]
2025-10-25T03:58:22.439Z,1761364702.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.98 m.
2025-10-25T03:58:22.443Z,1761364702.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 287.983429 m,
      nav range: 277.470764 m,
      bearing: 330.481581 deg,
      approach rate: -0.535091 m/s,
      LOS rate: -0.004294 deg/s,
      cmd heading: 332.844298 deg,
      new cmd heading: 332.839410 deg.

2025-10-25T03:58:22.443Z,1761364702.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809144 target range: 287.983429 and range: 289.20 m.
2025-10-25T03:58:22.550Z,1761364702.550 [DAT](INFO): DAT read: 03:58:20.8748 LVL= 15984, 18929, 12930, 17651, AGC= 68, IDX=  73,-0.09, 1.315,-0.073, 1.406, 0.691, PHS= 0.712,-0.717, 0.712, RAW= 150.0,  -9.9, CAL= 156.4, -17.9, ROT= 353.6,  17.9

2025-10-25T03:58:22.551Z,1761364702.551 [DAT](INFO): got valid direction response:
 03:58:20.8748 LVL= 15984, 18929, 12930, 17651, AGC= 68, IDX=  73,-0.09, 1.315,-0.073, 1.406, 0.691, PHS= 0.712,-0.717, 0.712, RAW= 150.0,  -9.9, CAL= 156.4, -17.9, ROT= 353.6,  17.9

2025-10-25T03:58:22.552Z,1761364702.552 [DAT](INFO): DAT read: Bearing 353.6,  17.9 (Local)

2025-10-25T03:58:22.552Z,1761364702.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  17.9 (Local)

2025-10-25T03:58:22.554Z,1761364702.554 [DAT](INFO): DAT read: Range 10 to 50 : 299.8 m  (Round-trip  399.8 ms) speed  0.5 m/s

2025-10-25T03:58:22.555Z,1761364702.555 [DAT](INFO): DAT read: user:227>

2025-10-25T03:58:22.555Z,1761364702.555 [DAT](INFO): DAT read: Tx time:03:58:21.9708

2025-10-25T03:58:22.556Z,1761364702.556 [DAT](INFO): Ping request sent.
2025-10-25T03:58:22.556Z,1761364702.556 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:22.557Z,1761364702.557 [DAT](INFO): DAT read: TxSync time:03:58:21.9701

2025-10-25T03:58:22.558Z,1761364702.558 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:22.559Z,1761364702.559 [DAT](INFO): direction in FSK: [0.945664,-0.106073,-0.307357]
2025-10-25T03:58:22.559Z,1761364702.559 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:22.559Z,1761364702.559 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:22.563Z,1761364702.563 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:22.563Z,1761364702.563 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:22.810Z,1761364702.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894738,0.445572,-0.030167],[-0.446409,0.890397,-0.088947],[-0.012772,0.093051,0.995579]]
2025-10-25T03:58:22.921Z,1761364702.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.799988 m,
      deltaT: 4.031142 s,
      deltaX: 10.599976 m,
      approachRate: 2.629522 m/s,
      rangeRepo size: 4

2025-10-25T03:58:22.923Z,1761364702.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.520386 m,
      bearing: 328.808248 deg,
      lat: 36.779433 deg,
      lon: -121.859928 deg,
      deltaT: 4.031142 s,
      deltaX: 10.536957 m,
      approachRate: 2.613889 m/s,
      posRepo size: 4

2025-10-25T03:58:22.924Z,1761364702.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:22.932Z,1761364702.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 277.376709 m,
      bearing: 330.423714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004294 deg/s,
      cmd heading: 332.839408 deg,
      new cmd heading: 332.833270 deg.

2025-10-25T03:58:22.937Z,1761364702.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809036 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:23.211Z,1761364703.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894553,0.445866,-0.031282],[-0.446839,0.890475,-0.085956],[-0.010469,0.090870,0.995808]]
2025-10-25T03:58:23.229Z,1761364703.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:23.250Z,1761364703.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:23.252Z,1761364703.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 277.188904 m,
      bearing: 330.423437 deg,
      approach rate: -0.592902 m/s,
      LOS rate: -0.000877 deg/s,
      cmd heading: 332.833260 deg,
      new cmd heading: 332.832427 deg.

2025-10-25T03:58:23.254Z,1761364703.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809022 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:23.301Z,1761364703.301 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:23.301Z,1761364703.301 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:23.302Z,1761364703.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:23.554Z,1761364703.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997637
2025-10-25T03:58:23.612Z,1761364703.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893906,0.447046,-0.032882],[-0.448161,0.889820,-0.085866],[-0.009127,0.091492,0.995764]]
2025-10-25T03:58:23.642Z,1761364703.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:23.644Z,1761364703.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 276.960815 m,
      bearing: 330.423168 deg,
      approach rate: -0.557318 m/s,
      LOS rate: -0.000658 deg/s,
      cmd heading: 332.832441 deg,
      new cmd heading: 332.831632 deg.

2025-10-25T03:58:23.645Z,1761364703.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809008 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:23.808Z,1761364703.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252073
2025-10-25T03:58:24.058Z,1761364704.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501722
2025-10-25T03:58:24.070Z,1761364704.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893182,0.448402,-0.034099],[-0.449626,0.889135,-0.085296],[-0.007928,0.091517,0.995772]]
2025-10-25T03:58:24.181Z,1761364704.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:24.193Z,1761364704.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 276.668823 m,
      bearing: 330.424840 deg,
      approach rate: -0.562727 m/s,
      LOS rate: 0.003227 deg/s,
      cmd heading: 332.831621 deg,
      new cmd heading: 332.836645 deg.

2025-10-25T03:58:24.194Z,1761364704.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809095 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:24.311Z,1761364704.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755103
2025-10-25T03:58:24.561Z,1761364704.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005559
2025-10-25T03:58:24.650Z,1761364704.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891620,0.451462,-0.034584],[-0.452726,0.887675,-0.084095],[-0.007267,0.090638,0.995857]]
2025-10-25T03:58:24.683Z,1761364704.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:24.686Z,1761364704.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 276.365448 m,
      bearing: 330.426803 deg,
      approach rate: -0.580589 m/s,
      LOS rate: 0.003759 deg/s,
      cmd heading: 332.836648 deg,
      new cmd heading: 332.842541 deg.

2025-10-25T03:58:24.687Z,1761364704.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809198 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:24.814Z,1761364704.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257813
2025-10-25T03:58:25.063Z,1761364705.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890610,0.453344,-0.035964],[-0.454731,0.886735,-0.083194],[-0.005825,0.090447,0.995884]]
2025-10-25T03:58:25.067Z,1761364705.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510699
2025-10-25T03:58:25.122Z,1761364705.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:25.124Z,1761364705.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 276.105347 m,
      bearing: 330.430300 deg,
      approach rate: -0.592961 m/s,
      LOS rate: 0.007980 deg/s,
      cmd heading: 332.842550 deg,
      new cmd heading: 332.853050 deg.

2025-10-25T03:58:25.142Z,1761364705.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809381 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:25.317Z,1761364705.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761580
2025-10-25T03:58:25.359Z,1761364705.359 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:58:25.476Z,1761364705.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889517,0.455308,-0.038121],[-0.456887,0.885724,-0.082138],[-0.003634,0.090480,0.995892]]
2025-10-25T03:58:25.492Z,1761364705.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:25.494Z,1761364705.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:25.497Z,1761364705.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 275.882843 m,
      bearing: 330.433408 deg,
      approach rate: -0.596709 m/s,
      LOS rate: 0.008342 deg/s,
      cmd heading: 332.853041 deg,
      new cmd heading: 332.862373 deg.

2025-10-25T03:58:25.498Z,1761364705.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809545 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:25.571Z,1761364705.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014674
2025-10-25T03:58:25.821Z,1761364705.821 [DAT](INFO): DAT read: Rx Time:03:58:24.7730

2025-10-25T03:58:25.822Z,1761364705.822 [DAT](INFO): Rx dataTimestamp_ set to:1761364705.821683
2025-10-25T03:58:25.822Z,1761364705.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266607
2025-10-25T03:58:25.881Z,1761364705.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888615,0.456843,-0.040710],[-0.458652,0.884899,-0.081191],[-0.001068,0.090819,0.995867]]
2025-10-25T03:58:25.928Z,1761364705.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:25.930Z,1761364705.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 275.624176 m,
      bearing: 330.437487 deg,
      approach rate: -0.597229 m/s,
      LOS rate: 0.009426 deg/s,
      cmd heading: 332.862384 deg,
      new cmd heading: 332.874632 deg.

2025-10-25T03:58:25.933Z,1761364705.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809758 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:26.074Z,1761364706.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517683
2025-10-25T03:58:26.273Z,1761364706.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887596,0.458551,-0.043648],[-0.460620,0.883978,-0.080072],[0.001867,0.091176,0.995833]]
2025-10-25T03:58:26.333Z,1761364706.333 [DAT](INFO): DAT read: 03:58:24.7731 LVL= 19824, 20609, 18674, 28083, AGC= 64, IDX= 424,-0.37,-2.285, 2.551,-2.206,-2.930, PHS= 0.734,-0.755, 0.721, RAW= 149.6,  -9.5, CAL= 155.8, -17.6, ROT= 354.2,  17.6

2025-10-25T03:58:26.334Z,1761364706.334 [DAT](INFO): got valid direction response:
 03:58:24.7731 LVL= 19824, 20609, 18674, 28083, AGC= 64, IDX= 424,-0.37,-2.285, 2.551,-2.206,-2.930, PHS= 0.734,-0.755, 0.721, RAW= 149.6,  -9.5, CAL= 155.8, -17.6, ROT= 354.2,  17.6

2025-10-25T03:58:26.335Z,1761364706.335 [DAT](INFO): DAT read: Bearing 354.2,  17.6 (Local)

2025-10-25T03:58:26.335Z,1761364706.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  17.6 (Local)

2025-10-25T03:58:26.340Z,1761364706.340 [DAT](INFO): DAT read: Range 10 to 50 : 298.5 m  (Round-trip  398.0 ms) speed  0.5 m/s

2025-10-25T03:58:26.341Z,1761364706.341 [DAT](INFO): DAT read: user:228>

2025-10-25T03:58:26.342Z,1761364706.342 [DAT](INFO): DAT read: Tx time:03:58:25.8709

2025-10-25T03:58:26.342Z,1761364706.342 [DAT](INFO): Ping request sent.
2025-10-25T03:58:26.342Z,1761364706.342 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:26.342Z,1761364706.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:26.343Z,1761364706.343 [DAT](INFO): direction in FSK: [0.948311,-0.096326,-0.302370]
2025-10-25T03:58:26.343Z,1761364706.343 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:26.344Z,1761364706.344 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:26.347Z,1761364706.347 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:26.348Z,1761364706.348 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:26.353Z,1761364706.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.52 m.
2025-10-25T03:58:26.355Z,1761364706.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.520386 m,
      nav range: 275.405426 m,
      bearing: 330.441042 deg,
      approach rate: -0.551331 m/s,
      LOS rate: 0.008969 deg/s,
      cmd heading: 332.874624 deg,
      new cmd heading: 332.885299 deg.

2025-10-25T03:58:26.356Z,1761364706.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809945 target range: 298.520386 and range: 299.80 m.
2025-10-25T03:58:26.361Z,1761364706.361 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:58:26.580Z,1761364706.580 [DAT](INFO): DAT read: TxSync time:03:58:25.8702

2025-10-25T03:58:26.676Z,1761364706.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886756,0.459822,-0.047185],[-0.462207,0.883220,-0.079291],[0.005214,0.092121,0.995734]]
2025-10-25T03:58:26.739Z,1761364706.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.500000 m,
      deltaT: 3.783961 s,
      deltaX: -1.299988 m,
      approachRate: -0.343552 m/s,
      rangeRepo size: 4

2025-10-25T03:58:26.755Z,1761364706.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.206085 m,
      bearing: 328.371719 deg,
      lat: 36.779433 deg,
      lon: -121.860031 deg,
      deltaT: 3.783961 s,
      deltaX: -1.314301 m,
      approachRate: -0.347335 m/s,
      posRepo size: 4

2025-10-25T03:58:26.762Z,1761364706.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:26.786Z,1761364706.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 279.790619 m,
      bearing: 328.817367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008969 deg/s,
      cmd heading: 332.885306 deg,
      new cmd heading: 332.896172 deg.

2025-10-25T03:58:26.833Z,1761364706.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810134 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:27.110Z,1761364707.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885150,0.462321,-0.052625],[-0.465230,0.881371,-0.082131],[0.008411,0.097181,0.995231]]
2025-10-25T03:58:27.178Z,1761364707.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:27.184Z,1761364707.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 279.515442 m,
      bearing: 328.821106 deg,
      approach rate: -0.614234 m/s,
      LOS rate: 0.008355 deg/s,
      cmd heading: 332.896180 deg,
      new cmd heading: 332.907409 deg.

2025-10-25T03:58:27.186Z,1761364707.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810330 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:27.514Z,1761364707.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884019,0.464038,-0.056377],[-0.467281,0.880498,-0.079824],[0.012599,0.096910,0.995213]]
2025-10-25T03:58:27.545Z,1761364707.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:27.547Z,1761364707.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:27.550Z,1761364707.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 279.297729 m,
      bearing: 328.824175 deg,
      approach rate: -0.586330 m/s,
      LOS rate: 0.008271 deg/s,
      cmd heading: 332.907409 deg,
      new cmd heading: 332.916622 deg.

2025-10-25T03:58:27.551Z,1761364707.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810491 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:27.585Z,1761364707.585 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:27.586Z,1761364707.586 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:27.586Z,1761364707.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:27.838Z,1761364707.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495511
2025-10-25T03:58:27.988Z,1761364707.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:27.995Z,1761364707.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 279.039703 m,
      bearing: 328.827755 deg,
      approach rate: -0.586182 m/s,
      LOS rate: 0.008140 deg/s,
      cmd heading: 332.916616 deg,
      new cmd heading: 332.927365 deg.

2025-10-25T03:58:27.996Z,1761364707.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810678 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:28.090Z,1761364708.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748189
2025-10-25T03:58:28.336Z,1761364708.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883074,0.465076,-0.062323],[-0.468877,0.879757,-0.078626],[0.018262,0.098654,0.994954]]
2025-10-25T03:58:28.342Z,1761364708.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999453
2025-10-25T03:58:28.391Z,1761364708.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:28.394Z,1761364708.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 278.791565 m,
      bearing: 328.831298 deg,
      approach rate: -0.614708 m/s,
      LOS rate: 0.008786 deg/s,
      cmd heading: 332.927353 deg,
      new cmd heading: 332.937993 deg.

2025-10-25T03:58:28.395Z,1761364708.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810864 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:28.594Z,1761364708.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251603
2025-10-25T03:58:28.724Z,1761364708.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883093,0.464758,-0.064404],[-0.468740,0.879949,-0.077289],[0.020752,0.098442,0.994926]]
2025-10-25T03:58:28.759Z,1761364708.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:28.762Z,1761364708.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 278.578033 m,
      bearing: 328.834347 deg,
      approach rate: -0.581152 m/s,
      LOS rate: 0.008304 deg/s,
      cmd heading: 332.937981 deg,
      new cmd heading: 332.947134 deg.

2025-10-25T03:58:28.763Z,1761364708.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811024 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:28.845Z,1761364708.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503392
2025-10-25T03:58:29.099Z,1761364709.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756240
2025-10-25T03:58:29.129Z,1761364709.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883230,0.464121,-0.067054],[-0.468348,0.880232,-0.076428],[0.023551,0.098908,0.994818]]
2025-10-25T03:58:29.179Z,1761364709.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:29.183Z,1761364709.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 278.336792 m,
      bearing: 328.836709 deg,
      approach rate: -0.573869 m/s,
      LOS rate: 0.005625 deg/s,
      cmd heading: 332.947133 deg,
      new cmd heading: 332.954227 deg.

2025-10-25T03:58:29.185Z,1761364709.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811148 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:29.353Z,1761364709.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010385
2025-10-25T03:58:29.542Z,1761364709.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883445,0.463291,-0.069901],[-0.467801,0.880535,-0.076291],[0.026206,0.100099,0.994632]]
2025-10-25T03:58:29.566Z,1761364709.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:29.571Z,1761364709.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:29.575Z,1761364709.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 278.116425 m,
      bearing: 328.838846 deg,
      approach rate: -0.563448 m/s,
      LOS rate: 0.005466 deg/s,
      cmd heading: 332.954237 deg,
      new cmd heading: 332.960650 deg.

2025-10-25T03:58:29.576Z,1761364709.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811260 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:29.602Z,1761364709.602 [DAT](INFO): DAT read: Rx Time:03:58:28.6526

2025-10-25T03:58:29.602Z,1761364709.602 [DAT](INFO): Rx dataTimestamp_ set to:1761364709.601853
2025-10-25T03:58:29.603Z,1761364709.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260627
2025-10-25T03:58:29.854Z,1761364709.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511518
2025-10-25T03:58:29.936Z,1761364709.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883860,0.462082,-0.072599],[-0.466866,0.881038,-0.076204],[0.028750,0.101248,0.994446]]
2025-10-25T03:58:29.988Z,1761364709.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.21 m.
2025-10-25T03:58:29.990Z,1761364709.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.206085 m,
      nav range: 277.887390 m,
      bearing: 328.839102 deg,
      approach rate: -0.548835 m/s,
      LOS rate: 0.000614 deg/s,
      cmd heading: 332.960657 deg,
      new cmd heading: 332.961426 deg.

2025-10-25T03:58:29.991Z,1761364709.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811273 target range: 297.206085 and range: 298.50 m.
2025-10-25T03:58:30.138Z,1761364710.138 [DAT](INFO): DAT read: 03:58:28.6526 LVL= 18208, 19585, 18082, 29011, AGC= 68, IDX= 229, 0.28,-2.499, 2.529,-2.375,-3.138, PHS= 0.727,-0.569, 0.760, RAW= 151.2, -13.9, CAL= 158.0, -21.2, ROT= 352.0,  21.2

2025-10-25T03:58:30.143Z,1761364710.143 [DAT](INFO): got valid direction response:
 03:58:28.6526 LVL= 18208, 19585, 18082, 29011, AGC= 68, IDX= 229, 0.28,-2.499, 2.529,-2.375,-3.138, PHS= 0.727,-0.569, 0.760, RAW= 151.2, -13.9, CAL= 158.0, -21.2, ROT= 352.0,  21.2

2025-10-25T03:58:30.154Z,1761364710.154 [DAT](INFO): DAT read: Bearing 352.0,  21.2 (Local)

2025-10-25T03:58:30.154Z,1761364710.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,  21.2 (Local)

2025-10-25T03:58:30.156Z,1761364710.156 [DAT](INFO): DAT read: Range 10 to 50 : 283.1 m  (Round-trip  377.5 ms) speed  0.6 m/s

2025-10-25T03:58:30.161Z,1761364710.161 [DAT](INFO): DAT read: user:229>

2025-10-25T03:58:30.162Z,1761364710.162 [DAT](INFO): DAT read: Tx time:03:58:29.7709

2025-10-25T03:58:30.162Z,1761364710.162 [DAT](INFO): Ping request sent.
2025-10-25T03:58:30.162Z,1761364710.162 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:30.162Z,1761364710.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:30.163Z,1761364710.163 [DAT](INFO): direction in FSK: [0.923250,-0.129754,-0.361625]
2025-10-25T03:58:30.164Z,1761364710.164 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:30.164Z,1761364710.164 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:30.172Z,1761364710.172 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:30.172Z,1761364710.172 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:30.358Z,1761364710.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884712,0.460018,-0.075284],[-0.465085,0.881976,-0.076257],[0.031319,0.102479,0.994242]]
2025-10-25T03:58:30.362Z,1761364710.362 [DAT](INFO): DAT read: TxSync time:03:58:29.7702

2025-10-25T03:58:30.420Z,1761364710.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.100006 m,
      deltaT: 3.786227 s,
      deltaX: -15.399994 m,
      approachRate: -4.067372 m/s,
      rangeRepo size: 4

2025-10-25T03:58:30.430Z,1761364710.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 281.864990 m,
      bearing: 326.647233 deg,
      lat: 36.779433 deg,
      lon: -121.860031 deg,
      deltaT: 3.786227 s,
      deltaX: -15.341095 m,
      approachRate: -4.051816 m/s,
      posRepo size: 4

2025-10-25T03:58:30.431Z,1761364710.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:30.439Z,1761364710.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 277.659149 m,
      bearing: 328.839266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000614 deg/s,
      cmd heading: 332.961422 deg,
      new cmd heading: 332.962217 deg.

2025-10-25T03:58:30.440Z,1761364710.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811287 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:30.747Z,1761364710.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885127,0.458832,-0.077607],[-0.464102,0.882595,-0.075070],[0.034051,0.102464,0.994154]]
2025-10-25T03:58:30.785Z,1761364710.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:30.788Z,1761364710.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 277.452942 m,
      bearing: 328.839370 deg,
      approach rate: -0.563282 m/s,
      LOS rate: 0.000285 deg/s,
      cmd heading: 332.962214 deg,
      new cmd heading: 332.962527 deg.

2025-10-25T03:58:30.789Z,1761364710.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811292 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:31.154Z,1761364711.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886870,0.455534,-0.077145],[-0.460549,0.884949,-0.068995],[0.036840,0.096718,0.994630]]
2025-10-25T03:58:31.194Z,1761364711.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:31.197Z,1761364711.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 277.234772 m,
      bearing: 328.837049 deg,
      approach rate: -0.533709 m/s,
      LOS rate: -0.005683 deg/s,
      cmd heading: 332.962515 deg,
      new cmd heading: 332.955545 deg.

2025-10-25T03:58:31.199Z,1761364711.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811171 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:31.562Z,1761364711.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888060,0.452574,-0.080790],[-0.458028,0.886106,-0.070903],[0.039499,0.099970,0.994206]]
2025-10-25T03:58:31.595Z,1761364711.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:31.602Z,1761364711.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:31.610Z,1761364711.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 277.026642 m,
      bearing: 328.834716 deg,
      approach rate: -0.516778 m/s,
      LOS rate: -0.005797 deg/s,
      cmd heading: 332.955548 deg,
      new cmd heading: 332.948545 deg.

2025-10-25T03:58:31.611Z,1761364711.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811049 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:31.621Z,1761364711.621 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:31.622Z,1761364711.622 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:31.622Z,1761364711.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:31.874Z,1761364711.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711930
2025-10-25T03:58:31.960Z,1761364711.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889662,0.449022,-0.082947],[-0.454763,0.887668,-0.072359],[0.041139,0.102096,0.993923]]
2025-10-25T03:58:32.058Z,1761364712.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:32.065Z,1761364712.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 276.793976 m,
      bearing: 328.829377 deg,
      approach rate: -0.504505 m/s,
      LOS rate: -0.011588 deg/s,
      cmd heading: 332.948554 deg,
      new cmd heading: 332.932522 deg.

2025-10-25T03:58:32.066Z,1761364712.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810769 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:32.126Z,1761364712.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964208
2025-10-25T03:58:32.365Z,1761364712.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890898,0.446385,-0.083912],[-0.452205,0.889021,-0.071781],[0.042558,0.101895,0.993884]]
2025-10-25T03:58:32.378Z,1761364712.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215612
2025-10-25T03:58:32.413Z,1761364712.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:32.424Z,1761364712.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 276.620453 m,
      bearing: 328.825285 deg,
      approach rate: -0.488672 m/s,
      LOS rate: -0.011530 deg/s,
      cmd heading: 332.932517 deg,
      new cmd heading: 332.920234 deg.

2025-10-25T03:58:32.425Z,1761364712.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810554 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:32.629Z,1761364712.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467384
2025-10-25T03:58:32.769Z,1761364712.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892090,0.443771,-0.085108],[-0.449709,0.890305,-0.071550],[0.044020,0.102103,0.993799]]
2025-10-25T03:58:32.787Z,1761364712.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:32.790Z,1761364712.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 276.414673 m,
      bearing: 328.820306 deg,
      approach rate: -0.549557 m/s,
      LOS rate: -0.013305 deg/s,
      cmd heading: 332.920222 deg,
      new cmd heading: 332.905276 deg.

2025-10-25T03:58:32.791Z,1761364712.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810293 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:32.886Z,1761364712.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723672
2025-10-25T03:58:33.134Z,1761364713.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971579
2025-10-25T03:58:33.182Z,1761364713.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893025,0.441648,-0.086333],[-0.447703,0.891339,-0.071249],[0.045485,0.102278,0.993715]]
2025-10-25T03:58:33.222Z,1761364713.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:33.241Z,1761364713.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 276.202698 m,
      bearing: 328.813283 deg,
      approach rate: -0.487421 m/s,
      LOS rate: -0.016163 deg/s,
      cmd heading: 332.905278 deg,
      new cmd heading: 332.884191 deg.

2025-10-25T03:58:33.242Z,1761364713.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809925 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:33.386Z,1761364713.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223536
2025-10-25T03:58:33.575Z,1761364713.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893383,0.440806,-0.086937],[-0.446812,0.891973,-0.068872],[0.047186,0.100373,0.993830]]
2025-10-25T03:58:33.630Z,1761364713.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:33.632Z,1761364713.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:33.639Z,1761364713.639 [DAT](INFO): DAT read: Rx Time:03:58:32.5497

2025-10-25T03:58:33.640Z,1761364713.640 [DAT](INFO): Rx dataTimestamp_ set to:1761364713.639265
2025-10-25T03:58:33.641Z,1761364713.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478381
2025-10-25T03:58:33.641Z,1761364713.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 276.002228 m,
      bearing: 328.806587 deg,
      approach rate: -0.489710 m/s,
      LOS rate: -0.016367 deg/s,
      cmd heading: 332.884186 deg,
      new cmd heading: 332.864086 deg.

2025-10-25T03:58:33.642Z,1761364713.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809574 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:33.892Z,1761364713.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729858
2025-10-25T03:58:34.024Z,1761364714.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893731,0.439954,-0.087668],[-0.445944,0.892550,-0.066996],[0.048773,0.098971,0.993894]]
2025-10-25T03:58:34.074Z,1761364714.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.86 m.
2025-10-25T03:58:34.097Z,1761364714.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.864990 m,
      nav range: 275.785156 m,
      bearing: 328.798652 deg,
      approach rate: -0.490686 m/s,
      LOS rate: -0.017952 deg/s,
      cmd heading: 332.864078 deg,
      new cmd heading: 332.840254 deg.

2025-10-25T03:58:34.099Z,1761364714.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809158 target range: 281.864990 and range: 283.10 m.
2025-10-25T03:58:34.152Z,1761364714.152 [DAT](INFO): DAT read: 03:58:32.5497 LVL= 23200, 25233, 19250, 32755, AGC= 66, IDX= 407, 0.38, 1.212, 0.003, 1.272, 0.447, PHS= 0.852,-0.397, 0.822, RAW= 148.8, -20.1, CAL= 154.1, -27.2, ROT= 355.9,  27.2

2025-10-25T03:58:34.154Z,1761364714.154 [DAT](INFO): got valid direction response:
 03:58:32.5497 LVL= 23200, 25233, 19250, 32755, AGC= 66, IDX= 407, 0.38, 1.212, 0.003, 1.272, 0.447, PHS= 0.852,-0.397, 0.822, RAW= 148.8, -20.1, CAL= 154.1, -27.2, ROT= 355.9,  27.2

2025-10-25T03:58:34.155Z,1761364714.155 [DAT](INFO): DAT read: Bearing 355.9,  27.2 (Local)

2025-10-25T03:58:34.156Z,1761364714.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  27.2 (Local)

2025-10-25T03:58:34.158Z,1761364714.158 [DAT](INFO): DAT read: Range 10 to 50 : 280.9 m  (Round-trip  374.6 ms) speed  0.4 m/s

2025-10-25T03:58:34.159Z,1761364714.159 [DAT](INFO): DAT read: user:230>

2025-10-25T03:58:34.161Z,1761364714.161 [DAT](INFO): DAT read: Tx time:03:58:33.6709

2025-10-25T03:58:34.161Z,1761364714.161 [DAT](INFO): Ping request sent.
2025-10-25T03:58:34.162Z,1761364714.162 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:34.162Z,1761364714.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:34.164Z,1761364714.164 [DAT](INFO): direction in FSK: [0.887140,-0.063591,-0.457098]
2025-10-25T03:58:34.164Z,1761364714.164 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:34.166Z,1761364714.166 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:34.170Z,1761364714.170 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:34.171Z,1761364714.171 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:34.394Z,1761364714.394 [DAT](INFO): DAT read: TxSync time:03:58:33.6702

2025-10-25T03:58:34.397Z,1761364714.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893773,0.439783,-0.088098],[-0.445711,0.892821,-0.064905],[0.050112,0.097276,0.993995]]
2025-10-25T03:58:34.440Z,1761364714.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.899994 m,
      deltaT: 4.030554 s,
      deltaX: -2.200012 m,
      approachRate: -0.545834 m/s,
      rangeRepo size: 4

2025-10-25T03:58:34.446Z,1761364714.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 279.655090 m,
      bearing: 332.312597 deg,
      lat: 36.779361 deg,
      lon: -121.860031 deg,
      deltaT: 4.030554 s,
      deltaX: -2.209900 m,
      approachRate: -0.548287 m/s,
      posRepo size: 4

2025-10-25T03:58:34.447Z,1761364714.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:34.454Z,1761364714.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 268.803619 m,
      bearing: 327.909079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017952 deg/s,
      cmd heading: 332.840255 deg,
      new cmd heading: 332.820600 deg.

2025-10-25T03:58:34.455Z,1761364714.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808815 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:34.789Z,1761364714.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893484,0.440247,-0.088704],[-0.446090,0.892831,-0.062098],[0.051859,0.095054,0.994120]]
2025-10-25T03:58:34.821Z,1761364714.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:34.823Z,1761364714.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 268.606628 m,
      bearing: 327.901014 deg,
      approach rate: -0.516665 m/s,
      LOS rate: -0.021168 deg/s,
      cmd heading: 332.820611 deg,
      new cmd heading: 332.796399 deg.

2025-10-25T03:58:34.824Z,1761364714.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808393 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:35.245Z,1761364715.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:35.250Z,1761364715.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 268.389771 m,
      bearing: 327.893663 deg,
      approach rate: -0.510318 m/s,
      LOS rate: -0.017313 deg/s,
      cmd heading: 332.796405 deg,
      new cmd heading: 332.774333 deg.

2025-10-25T03:58:35.251Z,1761364715.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808008 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:35.595Z,1761364715.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891359,0.444037,-0.091164],[-0.449857,0.891253,-0.057422],[0.055753,0.092194,0.994179]]
2025-10-25T03:58:35.614Z,1761364715.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:35.641Z,1761364715.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 268.201904 m,
      bearing: 327.887466 deg,
      approach rate: -0.509725 m/s,
      LOS rate: -0.016825 deg/s,
      cmd heading: 332.774330 deg,
      new cmd heading: 332.755727 deg.

2025-10-25T03:58:35.642Z,1761364715.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807683 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:36.002Z,1761364716.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891166,0.444539,-0.090606],[-0.450159,0.891265,-0.054794],[0.056396,0.089618,0.994378]]
2025-10-25T03:58:36.057Z,1761364716.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:36.059Z,1761364716.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:36.071Z,1761364716.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 267.970032 m,
      bearing: 327.882133 deg,
      approach rate: -0.520387 m/s,
      LOS rate: -0.011980 deg/s,
      cmd heading: 332.755724 deg,
      new cmd heading: 332.739710 deg.

2025-10-25T03:58:36.071Z,1761364716.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807404 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:36.158Z,1761364716.158 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:36.158Z,1761364716.158 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:36.158Z,1761364716.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:36.410Z,1761364716.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248153
2025-10-25T03:58:36.411Z,1761364716.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891043,0.444821,-0.090422],[-0.450342,0.891262,-0.053330],[0.056867,0.088240,0.994475]]
2025-10-25T03:58:36.463Z,1761364716.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:36.470Z,1761364716.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 267.751312 m,
      bearing: 327.877107 deg,
      approach rate: -0.542615 m/s,
      LOS rate: -0.012479 deg/s,
      cmd heading: 332.739714 deg,
      new cmd heading: 332.724624 deg.

2025-10-25T03:58:36.471Z,1761364716.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807140 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:36.662Z,1761364716.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499907
2025-10-25T03:58:36.810Z,1761364716.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890699,0.445323,-0.091335],[-0.450905,0.890999,-0.052969],[0.057791,0.088363,0.994410]]
2025-10-25T03:58:36.830Z,1761364716.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:36.834Z,1761364716.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 267.544006 m,
      bearing: 327.872365 deg,
      approach rate: -0.563866 m/s,
      LOS rate: -0.012906 deg/s,
      cmd heading: 332.724633 deg,
      new cmd heading: 332.710398 deg.

2025-10-25T03:58:36.835Z,1761364716.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806892 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:36.918Z,1761364716.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755672
2025-10-25T03:58:37.166Z,1761364717.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004269
2025-10-25T03:58:37.218Z,1761364717.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890296,0.445919,-0.092349],[-0.451542,0.890725,-0.052142],[0.059006,0.088122,0.994361]]
2025-10-25T03:58:37.290Z,1761364717.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:37.299Z,1761364717.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 267.285706 m,
      bearing: 327.869122 deg,
      approach rate: -0.562231 m/s,
      LOS rate: -0.007067 deg/s,
      cmd heading: 332.710399 deg,
      new cmd heading: 332.700659 deg.

2025-10-25T03:58:37.300Z,1761364717.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806722 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:37.418Z,1761364717.418 [DAT](INFO): DAT read: Rx Time:03:58:36.4479

2025-10-25T03:58:37.418Z,1761364717.418 [DAT](INFO): Rx dataTimestamp_ set to:1761364717.417907
2025-10-25T03:58:37.419Z,1761364717.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257140
2025-10-25T03:58:37.615Z,1761364717.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890110,0.446060,-0.093452],[-0.451747,0.890655,-0.051559],[0.060235,0.088110,0.994288]]
2025-10-25T03:58:37.633Z,1761364717.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.66 m.
2025-10-25T03:58:37.636Z,1761364717.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.655090 m,
      nav range: 267.080322 m,
      bearing: 327.866550 deg,
      approach rate: -0.597670 m/s,
      LOS rate: -0.007490 deg/s,
      cmd heading: 332.700645 deg,
      new cmd heading: 332.692924 deg.

2025-10-25T03:58:37.637Z,1761364717.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806587 target range: 279.655090 and range: 280.90 m.
2025-10-25T03:58:37.671Z,1761364717.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509129
2025-10-25T03:58:37.947Z,1761364717.947 [DAT](INFO): DAT read: 03:58:36.4479 LVL= 18592, 25425, 16226, 28819, AGC= 64, IDX= 419, 0.21,-0.511,-1.635,-0.346,-1.109, PHS= 0.686,-0.479, 0.760, RAW= 153.1, -15.9, CAL= 159.4, -22.8, ROT= 350.6,  22.8

2025-10-25T03:58:37.952Z,1761364717.952 [DAT](INFO): got valid direction response:
 03:58:36.4479 LVL= 18592, 25425, 16226, 28819, AGC= 64, IDX= 419, 0.21,-0.511,-1.635,-0.346,-1.109, PHS= 0.686,-0.479, 0.760, RAW= 153.1, -15.9, CAL= 159.4, -22.8, ROT= 350.6,  22.8

2025-10-25T03:58:37.960Z,1761364717.960 [DAT](INFO): DAT read: Bearing 350.6,  22.8 (Local)

2025-10-25T03:58:37.960Z,1761364717.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  22.8 (Local)

2025-10-25T03:58:37.974Z,1761364717.974 [DAT](INFO): DAT read: Range 10 to 50 : 279.5 m  (Round-trip  372.7 ms) speed  0.4 m/s

2025-10-25T03:58:37.975Z,1761364717.975 [DAT](INFO): DAT read: user:231>

2025-10-25T03:58:37.975Z,1761364717.975 [DAT](INFO): DAT read: Tx time:03:58:37.5710

2025-10-25T03:58:37.976Z,1761364717.976 [DAT](INFO): Ping request sent.
2025-10-25T03:58:37.976Z,1761364717.976 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:37.976Z,1761364717.976 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:37.989Z,1761364717.989 [DAT](INFO): direction in FSK: [0.909485,-0.150564,-0.387516]
2025-10-25T03:58:37.990Z,1761364717.990 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:37.990Z,1761364717.990 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:37.997Z,1761364717.997 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:37.998Z,1761364717.998 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:38.052Z,1761364718.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889278,0.447043,-0.096629],[-0.453023,0.889998,-0.051706],[0.062885,0.089757,0.993976]]
2025-10-25T03:58:38.121Z,1761364718.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.500000 m,
      deltaT: 3.781054 s,
      deltaX: -1.399994 m,
      approachRate: -0.370266 m/s,
      rangeRepo size: 4

2025-10-25T03:58:38.123Z,1761364718.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 278.258484 m,
      bearing: 325.970013 deg,
      lat: 36.779338 deg,
      lon: -121.860052 deg,
      deltaT: 3.781054 s,
      deltaX: -1.396606 m,
      approachRate: -0.369370 m/s,
      posRepo size: 4

2025-10-25T03:58:38.124Z,1761364718.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:38.137Z,1761364718.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 265.648499 m,
      bearing: 327.234972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007490 deg/s,
      cmd heading: 332.692914 deg,
      new cmd heading: 332.682069 deg.

2025-10-25T03:58:38.138Z,1761364718.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806397 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:38.174Z,1761364718.174 [DAT](INFO): DAT read: TxSync time:03:58:37.5703

2025-10-25T03:58:38.491Z,1761364718.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:38.493Z,1761364718.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:38.496Z,1761364718.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 265.429901 m,
      bearing: 327.231760 deg,
      approach rate: -0.578913 m/s,
      LOS rate: -0.008512 deg/s,
      cmd heading: 332.682067 deg,
      new cmd heading: 332.672425 deg.

2025-10-25T03:58:38.498Z,1761364718.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806229 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:38.680Z,1761364718.680 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:38.680Z,1761364718.680 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:38.681Z,1761364718.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:38.837Z,1761364718.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890105,0.445649,-0.095446],[-0.451005,0.891453,-0.043650],[0.065633,0.081899,0.994477]]
2025-10-25T03:58:38.871Z,1761364718.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:38.878Z,1761364718.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 265.201874 m,
      bearing: 327.228321 deg,
      approach rate: -0.604126 m/s,
      LOS rate: -0.009121 deg/s,
      cmd heading: 332.672423 deg,
      new cmd heading: 332.662095 deg.

2025-10-25T03:58:38.879Z,1761364718.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806049 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:38.934Z,1761364718.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957907
2025-10-25T03:58:39.183Z,1761364719.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206973
2025-10-25T03:58:39.344Z,1761364719.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890330,0.444646,-0.097987],[-0.450331,0.891706,-0.045410],[0.067185,0.084557,0.994151]]
2025-10-25T03:58:39.434Z,1761364719.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458190
2025-10-25T03:58:39.437Z,1761364719.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:39.439Z,1761364719.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 264.865692 m,
      bearing: 327.227810 deg,
      approach rate: -0.594465 m/s,
      LOS rate: -0.000903 deg/s,
      cmd heading: 332.662096 deg,
      new cmd heading: 332.660563 deg.

2025-10-25T03:58:39.440Z,1761364719.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806022 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:39.687Z,1761364719.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710927
2025-10-25T03:58:39.748Z,1761364719.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890687,0.443436,-0.100206],[-0.449427,0.892074,-0.047106],[0.068503,0.086992,0.993851]]
2025-10-25T03:58:39.776Z,1761364719.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:39.779Z,1761364719.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 264.660950 m,
      bearing: 327.227450 deg,
      approach rate: -0.603058 m/s,
      LOS rate: -0.001062 deg/s,
      cmd heading: 332.660566 deg,
      new cmd heading: 332.659484 deg.

2025-10-25T03:58:39.780Z,1761364719.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806003 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:39.941Z,1761364719.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964298
2025-10-25T03:58:40.172Z,1761364720.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890706,0.442917,-0.102314],[-0.449168,0.892148,-0.048169],[0.069944,0.088860,0.993585]]
2025-10-25T03:58:40.190Z,1761364720.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214027
2025-10-25T03:58:40.223Z,1761364720.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:40.245Z,1761364720.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 264.391022 m,
      bearing: 327.227054 deg,
      approach rate: -0.604324 m/s,
      LOS rate: -0.000888 deg/s,
      cmd heading: 332.659473 deg,
      new cmd heading: 332.658284 deg.

2025-10-25T03:58:40.246Z,1761364720.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805982 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:40.442Z,1761364720.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466027
2025-10-25T03:58:40.577Z,1761364720.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890525,0.442915,-0.103880],[-0.449327,0.892052,-0.048457],[0.071204,0.089828,0.993409]]
2025-10-25T03:58:40.595Z,1761364720.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:40.599Z,1761364720.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:40.602Z,1761364720.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 264.162933 m,
      bearing: 327.226729 deg,
      approach rate: -0.607939 m/s,
      LOS rate: -0.000866 deg/s,
      cmd heading: 332.658271 deg,
      new cmd heading: 332.657297 deg.

2025-10-25T03:58:40.603Z,1761364720.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805965 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:40.699Z,1761364720.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723346
2025-10-25T03:58:40.953Z,1761364720.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976605
2025-10-25T03:58:41.049Z,1761364721.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890244,0.443072,-0.105608],[-0.449648,0.891885,-0.048555],[0.072677,0.090712,0.993222]]
2025-10-25T03:58:41.146Z,1761364721.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:41.158Z,1761364721.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 263.855774 m,
      bearing: 327.224839 deg,
      approach rate: -0.560174 m/s,
      LOS rate: -0.003452 deg/s,
      cmd heading: 332.657287 deg,
      new cmd heading: 332.651609 deg.

2025-10-25T03:58:41.159Z,1761364721.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805866 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:41.202Z,1761364721.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225873
2025-10-25T03:58:41.454Z,1761364721.454 [DAT](INFO): DAT read: Rx Time:03:58:40.3443

2025-10-25T03:58:41.454Z,1761364721.454 [DAT](INFO): Rx dataTimestamp_ set to:1761364721.453839
2025-10-25T03:58:41.455Z,1761364721.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478955
2025-10-25T03:58:41.466Z,1761364721.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889780,0.443583,-0.107362],[-0.450309,0.891560,-0.048395],[0.074253,0.091407,0.993041]]
2025-10-25T03:58:41.485Z,1761364721.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:41.488Z,1761364721.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 263.639069 m,
      bearing: 327.223540 deg,
      approach rate: -0.640445 m/s,
      LOS rate: -0.003842 deg/s,
      cmd heading: 332.651605 deg,
      new cmd heading: 332.647705 deg.

2025-10-25T03:58:41.489Z,1761364721.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805798 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:41.705Z,1761364721.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729714
2025-10-25T03:58:41.869Z,1761364721.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889650,0.443381,-0.109255],[-0.450291,0.891563,-0.048510],[0.075899,0.092354,0.992829]]
2025-10-25T03:58:41.888Z,1761364721.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.26 m.
2025-10-25T03:58:41.891Z,1761364721.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 278.258484 m,
      nav range: 263.401489 m,
      bearing: 327.222116 deg,
      approach rate: -0.588792 m/s,
      LOS rate: -0.003532 deg/s,
      cmd heading: 332.647698 deg,
      new cmd heading: 332.643422 deg.

2025-10-25T03:58:41.892Z,1761364721.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805723 target range: 278.258484 and range: 279.50 m.
2025-10-25T03:58:42.026Z,1761364722.026 [DAT](INFO): DAT read: 03:58:40.3443 LVL= 18112, 20545, 14738, 26611, AGC= 63, IDX= 400,-0.04, 2.749, 1.418, 2.728, 1.947, PHS= 0.891,-0.482, 0.779, RAW= 145.8, -17.6, CAL= 151.7, -25.3, ROT= 358.3,  25.3

2025-10-25T03:58:42.027Z,1761364722.027 [DAT](INFO): got valid direction response:
 03:58:40.3443 LVL= 18112, 20545, 14738, 26611, AGC= 63, IDX= 400,-0.04, 2.749, 1.418, 2.728, 1.947, PHS= 0.891,-0.482, 0.779, RAW= 145.8, -17.6, CAL= 151.7, -25.3, ROT= 358.3,  25.3

2025-10-25T03:58:42.028Z,1761364722.028 [DAT](INFO): DAT read: Bearing 358.3,  25.3 (Local)

2025-10-25T03:58:42.028Z,1761364722.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  25.3 (Local)

2025-10-25T03:58:42.034Z,1761364722.034 [DAT](INFO): DAT read: Range 10 to 50 : 276.8 m  (Round-trip  369.1 ms) speed  0.4 m/s

2025-10-25T03:58:42.035Z,1761364722.035 [DAT](INFO): DAT read: user:232>

2025-10-25T03:58:42.036Z,1761364722.036 [DAT](INFO): DAT read: Tx time:03:58:41.4210

2025-10-25T03:58:42.036Z,1761364722.036 [DAT](INFO): Ping request sent.
2025-10-25T03:58:42.053Z,1761364722.053 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:42.053Z,1761364722.053 [DAT](INFO): DAT read: TxSync time:03:58:41.4203

2025-10-25T03:58:42.054Z,1761364722.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:42.055Z,1761364722.055 [DAT](INFO): direction in FSK: [0.903685,-0.026821,-0.427358]
2025-10-25T03:58:42.055Z,1761364722.055 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:42.055Z,1761364722.055 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:42.072Z,1761364722.072 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:42.072Z,1761364722.072 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:42.314Z,1761364722.314 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +156.39,      +199.7 +63.04,  20.00,

2025-10-25T03:58:42.361Z,1761364722.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.799988 m,
      deltaT: 4.035694 s,
      deltaX: -2.700012 m,
      approachRate: -0.669033 m/s,
      rangeRepo size: 4

2025-10-25T03:58:42.363Z,1761364722.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 275.564056 m,
      bearing: 333.944221 deg,
      lat: 36.779338 deg,
      lon: -121.860052 deg,
      deltaT: 4.035694 s,
      deltaX: -2.694427 m,
      approachRate: -0.667649 m/s,
      posRepo size: 4

2025-10-25T03:58:42.364Z,1761364722.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:42.384Z,1761364722.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 263.125671 m,
      bearing: 327.220460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003532 deg/s,
      cmd heading: 332.643436 deg,
      new cmd heading: 332.638437 deg.

2025-10-25T03:58:42.389Z,1761364722.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805636 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:42.672Z,1761364722.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888767,0.445150,-0.109245],[-0.451280,0.891550,-0.038528],[0.080246,0.083542,0.993268]]
2025-10-25T03:58:42.688Z,1761364722.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:42.691Z,1761364722.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:42.693Z,1761364722.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 262.927521 m,
      bearing: 327.219327 deg,
      approach rate: -0.599015 m/s,
      LOS rate: -0.003427 deg/s,
      cmd heading: 332.638436 deg,
      new cmd heading: 332.635035 deg.

2025-10-25T03:58:42.694Z,1761364722.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805577 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:42.713Z,1761364722.713 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:42.713Z,1761364722.713 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:42.714Z,1761364722.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:42.967Z,1761364722.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.930870
2025-10-25T03:58:43.080Z,1761364723.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888797,0.445101,-0.109199],[-0.450996,0.891812,-0.035685],[0.081501,0.080965,0.993379]]
2025-10-25T03:58:43.128Z,1761364723.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:43.147Z,1761364723.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 262.689728 m,
      bearing: 327.215582 deg,
      approach rate: -0.543691 m/s,
      LOS rate: -0.008569 deg/s,
      cmd heading: 332.635048 deg,
      new cmd heading: 332.623804 deg.

2025-10-25T03:58:43.153Z,1761364723.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805380 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:43.218Z,1761364723.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.182108
2025-10-25T03:58:43.469Z,1761364723.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.433052
2025-10-25T03:58:43.478Z,1761364723.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888621,0.445021,-0.110948],[-0.451123,0.891718,-0.036445],[0.082715,0.082437,0.993158]]
2025-10-25T03:58:43.530Z,1761364723.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:43.538Z,1761364723.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 262.486481 m,
      bearing: 327.212384 deg,
      approach rate: -0.505771 m/s,
      LOS rate: -0.007964 deg/s,
      cmd heading: 332.623792 deg,
      new cmd heading: 332.614191 deg.

2025-10-25T03:58:43.539Z,1761364723.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805213 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:43.722Z,1761364723.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685181
2025-10-25T03:58:43.887Z,1761364723.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888825,0.444103,-0.112972],[-0.450389,0.892080,-0.036655],[0.084501,0.083461,0.992922]]
2025-10-25T03:58:43.920Z,1761364723.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:43.923Z,1761364723.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 262.267426 m,
      bearing: 327.208896 deg,
      approach rate: -0.561552 m/s,
      LOS rate: -0.008950 deg/s,
      cmd heading: 332.614203 deg,
      new cmd heading: 332.603728 deg.

2025-10-25T03:58:43.924Z,1761364723.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805030 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:43.975Z,1761364723.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937938
2025-10-25T03:58:44.226Z,1761364724.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189178
2025-10-25T03:58:44.357Z,1761364724.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:44.360Z,1761364724.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 262.024353 m,
      bearing: 327.204230 deg,
      approach rate: -0.555853 m/s,
      LOS rate: -0.010680 deg/s,
      cmd heading: 332.603739 deg,
      new cmd heading: 332.589728 deg.

2025-10-25T03:58:44.361Z,1761364724.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804786 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:44.478Z,1761364724.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441253
2025-10-25T03:58:44.691Z,1761364724.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888799,0.442761,-0.118317],[-0.449705,0.892327,-0.038960],[0.088328,0.087836,0.992211]]
2025-10-25T03:58:44.724Z,1761364724.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:44.726Z,1761364724.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:44.730Z,1761364724.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.693259
2025-10-25T03:58:44.730Z,1761364724.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 261.819672 m,
      bearing: 327.200261 deg,
      approach rate: -0.554758 m/s,
      LOS rate: -0.010766 deg/s,
      cmd heading: 332.589723 deg,
      new cmd heading: 332.577807 deg.

2025-10-25T03:58:44.731Z,1761364724.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804578 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:44.986Z,1761364724.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949354
2025-10-25T03:58:45.097Z,1761364725.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887889,0.444061,-0.120259],[-0.451107,0.891656,-0.038111],[0.090306,0.088088,0.992011]]
2025-10-25T03:58:45.162Z,1761364725.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:45.169Z,1761364725.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 261.600891 m,
      bearing: 327.196248 deg,
      approach rate: -0.501941 m/s,
      LOS rate: -0.009214 deg/s,
      cmd heading: 332.577811 deg,
      new cmd heading: 332.565763 deg.

2025-10-25T03:58:45.170Z,1761364725.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804368 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:45.240Z,1761364725.240 [DAT](INFO): DAT read: Rx Time:03:58:44.1737

2025-10-25T03:58:45.240Z,1761364725.240 [DAT](INFO): Rx dataTimestamp_ set to:1761364725.239911
2025-10-25T03:58:45.241Z,1761364725.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204983
2025-10-25T03:58:45.490Z,1761364725.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453216
2025-10-25T03:58:45.500Z,1761364725.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887189,0.445299,-0.120847],[-0.452154,0.891237,-0.035409],[0.091936,0.086055,0.992040]]
2025-10-25T03:58:45.543Z,1761364725.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.56 m.
2025-10-25T03:58:45.550Z,1761364725.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.564056 m,
      nav range: 261.400269 m,
      bearing: 327.192622 deg,
      approach rate: -0.526404 m/s,
      LOS rate: -0.009522 deg/s,
      cmd heading: 332.565763 deg,
      new cmd heading: 332.554876 deg.

2025-10-25T03:58:45.554Z,1761364725.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804177 target range: 275.564056 and range: 276.80 m.
2025-10-25T03:58:45.750Z,1761364725.750 [DAT](INFO): DAT read: 03:58:44.1737 LVL= 18880, 21233, 16098, 27683, AGC= 67, IDX= 235, 0.20,-2.887, 2.063,-2.890, 2.805, PHS= 0.679,-0.695, 0.585, RAW= 146.5,  -8.6, CAL= 152.8, -17.2, ROT= 357.2,  17.2

2025-10-25T03:58:45.751Z,1761364725.751 [DAT](INFO): got valid direction response:
 03:58:44.1737 LVL= 18880, 21233, 16098, 27683, AGC= 67, IDX= 235, 0.20,-2.887, 2.063,-2.890, 2.805, PHS= 0.679,-0.695, 0.585, RAW= 146.5,  -8.6, CAL= 152.8, -17.2, ROT= 357.2,  17.2

2025-10-25T03:58:45.754Z,1761364725.754 [DAT](INFO): DAT read: Bearing 357.2,  17.2 (Local)

2025-10-25T03:58:45.754Z,1761364725.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  17.2 (Local)

2025-10-25T03:58:45.756Z,1761364725.756 [DAT](INFO): DAT read: Range 10 to 50 : 261.3 m  (Round-trip  348.4 ms) speed  0.5 m/s

2025-10-25T03:58:45.757Z,1761364725.757 [DAT](INFO): DAT read: user:233>

2025-10-25T03:58:45.759Z,1761364725.759 [DAT](INFO): DAT read: Tx time:03:58:45.2711

2025-10-25T03:58:45.759Z,1761364725.759 [DAT](INFO): Ping request sent.
2025-10-25T03:58:45.759Z,1761364725.759 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:45.759Z,1761364725.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:45.761Z,1761364725.761 [DAT](INFO): direction in FSK: [0.954138,-0.046665,-0.295708]
2025-10-25T03:58:45.761Z,1761364725.761 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:45.761Z,1761364725.761 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:45.775Z,1761364725.775 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:45.781Z,1761364725.781 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:45.925Z,1761364725.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885759,0.447974,-0.121454],[-0.454552,0.890153,-0.031766],[0.093883,0.083344,0.992089]]
2025-10-25T03:58:45.976Z,1761364725.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.299988 m,
      deltaT: 3.784554 s,
      deltaX: -15.500000 m,
      approachRate: -4.095595 m/s,
      rangeRepo size: 4

2025-10-25T03:58:45.983Z,1761364725.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.137909 m,
      bearing: 331.560238 deg,
      lat: 36.779338 deg,
      lon: -121.859823 deg,
      deltaT: 3.784554 s,
      deltaX: -15.426147 m,
      approachRate: -4.076081 m/s,
      posRepo size: 4

2025-10-25T03:58:45.984Z,1761364725.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:45.995Z,1761364725.995 [DAT](INFO): DAT read: TxSync time:03:58:45.2704

2025-10-25T03:58:45.998Z,1761364725.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 250.732224 m,
      bearing: 331.097930 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009522 deg/s,
      cmd heading: 332.554862 deg,
      new cmd heading: 332.542523 deg.

2025-10-25T03:58:45.000Z,1761364726.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803962 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:46.366Z,1761364726.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883778,0.453717,-0.114357],[-0.457649,0.889084,-0.009335],[0.097438,0.060585,0.993396]]
2025-10-25T03:58:46.436Z,1761364726.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:46.443Z,1761364726.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 250.481674 m,
      bearing: 331.098258 deg,
      approach rate: -0.543598 m/s,
      LOS rate: 0.000711 deg/s,
      cmd heading: 332.542513 deg,
      new cmd heading: 332.543496 deg.

2025-10-25T03:58:46.444Z,1761364726.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803979 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:46.744Z,1761364726.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883241,0.454293,-0.116202],[-0.458570,0.888582,-0.011633],[0.097970,0.063562,0.993157]]
2025-10-25T03:58:46.774Z,1761364726.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:46.777Z,1761364726.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:46.779Z,1761364726.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 250.286621 m,
      bearing: 331.098555 deg,
      approach rate: -0.573150 m/s,
      LOS rate: 0.000873 deg/s,
      cmd heading: 332.543496 deg,
      new cmd heading: 332.544388 deg.

2025-10-25T03:58:46.780Z,1761364726.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803995 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:47.007Z,1761364727.007 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:47.007Z,1761364727.007 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:47.007Z,1761364727.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:47.150Z,1761364727.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883085,0.453957,-0.118675],[-0.458693,0.888474,-0.014634],[0.098796,0.067359,0.992825]]
2025-10-25T03:58:47.191Z,1761364727.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:47.194Z,1761364727.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 250.061584 m,
      bearing: 331.099491 deg,
      approach rate: -0.542145 m/s,
      LOS rate: 0.002258 deg/s,
      cmd heading: 332.544398 deg,
      new cmd heading: 332.547210 deg.

2025-10-25T03:58:47.195Z,1761364727.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804044 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:47.259Z,1761364727.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499549
2025-10-25T03:58:47.513Z,1761364727.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753854
2025-10-25T03:58:47.550Z,1761364727.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883154,0.452996,-0.121795],[-0.458325,0.888594,-0.018413],[0.099886,0.072083,0.992384]]
2025-10-25T03:58:47.590Z,1761364727.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:47.592Z,1761364727.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 249.857559 m,
      bearing: 331.100316 deg,
      approach rate: -0.512316 m/s,
      LOS rate: 0.002073 deg/s,
      cmd heading: 332.547212 deg,
      new cmd heading: 332.549688 deg.

2025-10-25T03:58:47.594Z,1761364727.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804087 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:47.763Z,1761364727.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003955
2025-10-25T03:58:48.004Z,1761364728.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:48.007Z,1761364728.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 249.622025 m,
      bearing: 331.101270 deg,
      approach rate: -0.568779 m/s,
      LOS rate: 0.002306 deg/s,
      cmd heading: 332.549698 deg,
      new cmd heading: 332.552563 deg.

2025-10-25T03:58:48.007Z,1761364728.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804137 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:48.015Z,1761364728.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255033
2025-10-25T03:58:48.266Z,1761364728.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507242
2025-10-25T03:58:48.359Z,1761364728.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883609,0.450091,-0.129045],[-0.456729,0.889230,-0.025851],[0.103116,0.081781,0.991302]]
2025-10-25T03:58:48.423Z,1761364728.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:48.430Z,1761364728.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 249.403290 m,
      bearing: 331.102328 deg,
      approach rate: -0.521900 m/s,
      LOS rate: 0.002527 deg/s,
      cmd heading: 332.552567 deg,
      new cmd heading: 332.555745 deg.

2025-10-25T03:58:48.431Z,1761364728.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804193 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:48.518Z,1761364728.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758671
2025-10-25T03:58:48.770Z,1761364728.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010446
2025-10-25T03:58:48.801Z,1761364728.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:48.803Z,1761364728.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:48.806Z,1761364728.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 249.180588 m,
      bearing: 331.103408 deg,
      approach rate: -0.585359 m/s,
      LOS rate: 0.002840 deg/s,
      cmd heading: 332.555736 deg,
      new cmd heading: 332.558978 deg.

2025-10-25T03:58:48.807Z,1761364728.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804249 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:49.022Z,1761364729.022 [DAT](INFO): DAT read: Rx Time:03:58:48.0208

2025-10-25T03:58:49.023Z,1761364729.023 [DAT](INFO): Rx dataTimestamp_ set to:1761364729.022438
2025-10-25T03:58:49.024Z,1761364729.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264506
2025-10-25T03:58:49.164Z,1761364729.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883728,0.447773,-0.136105],[-0.455466,0.889742,-0.030165],[0.107591,0.088649,0.990235]]
2025-10-25T03:58:49.222Z,1761364729.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.14 m.
2025-10-25T03:58:49.241Z,1761364729.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.137909 m,
      nav range: 248.949310 m,
      bearing: 331.103170 deg,
      approach rate: -0.552572 m/s,
      LOS rate: -0.000568 deg/s,
      cmd heading: 332.558987 deg,
      new cmd heading: 332.558275 deg.

2025-10-25T03:58:49.242Z,1761364729.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804237 target range: 260.137909 and range: 261.30 m.
2025-10-25T03:58:49.274Z,1761364729.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514495
2025-10-25T03:58:49.532Z,1761364729.532 [DAT](INFO): DAT read: 03:58:48.0208 LVL= 23280, 29009, 20178, 32755, AGC= 62, IDX= 414, 0.25,-1.757, 3.070,-1.801,-2.433, PHS= 0.763,-0.733, 0.628, RAW= 145.3,  -9.2, CAL= 151.9, -18.0, ROT= 358.1,  18.0

2025-10-25T03:58:49.533Z,1761364729.533 [DAT](INFO): got valid direction response:
 03:58:48.0208 LVL= 23280, 29009, 20178, 32755, AGC= 62, IDX= 414, 0.25,-1.757, 3.070,-1.801,-2.433, PHS= 0.763,-0.733, 0.628, RAW= 145.3,  -9.2, CAL= 151.9, -18.0, ROT= 358.1,  18.0

2025-10-25T03:58:49.534Z,1761364729.534 [DAT](INFO): DAT read: Bearing 358.1,  18.0 (Local)

2025-10-25T03:58:49.535Z,1761364729.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  18.0 (Local)

2025-10-25T03:58:49.536Z,1761364729.536 [DAT](INFO): DAT read: Range 10 to 50 : 259.2 m  (Round-trip  345.6 ms) speed  0.4 m/s

2025-10-25T03:58:49.537Z,1761364729.537 [DAT](INFO): DAT read: user:234>

2025-10-25T03:58:49.538Z,1761364729.538 [DAT](INFO): DAT read: Tx time:03:58:49.1211

2025-10-25T03:58:49.538Z,1761364729.538 [DAT](INFO): Ping request sent.
2025-10-25T03:58:49.538Z,1761364729.538 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:49.538Z,1761364729.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:49.539Z,1761364729.539 [DAT](INFO): direction in FSK: [0.950534,-0.031532,-0.309017]
2025-10-25T03:58:49.540Z,1761364729.540 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:49.540Z,1761364729.540 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:49.543Z,1761364729.543 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:49.544Z,1761364729.544 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:49.674Z,1761364729.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.200012 m,
      deltaT: 3.781710 s,
      deltaX: -2.099976 m,
      approachRate: -0.555298 m/s,
      rangeRepo size: 4

2025-10-25T03:58:49.676Z,1761364729.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.044708 m,
      bearing: 332.508189 deg,
      lat: 36.779377 deg,
      lon: -121.859782 deg,
      deltaT: 3.781710 s,
      deltaX: -2.093201 m,
      approachRate: -0.553506 m/s,
      posRepo size: 4

2025-10-25T03:58:49.683Z,1761364729.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:49.691Z,1761364729.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 250.733200 m,
      bearing: 332.300869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000568 deg/s,
      cmd heading: 332.558277 deg,
      new cmd heading: 332.557508 deg.

2025-10-25T03:58:49.697Z,1761364729.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804224 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:49.779Z,1761364729.779 [DAT](INFO): DAT read: TxSync time:03:58:49.1204

2025-10-25T03:58:50.001Z,1761364730.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882599,0.448588,-0.140669],[-0.456819,0.889013,-0.031193],[0.111064,0.091791,0.989565]]
2025-10-25T03:58:50.023Z,1761364730.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:50.026Z,1761364730.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 250.525681 m,
      bearing: 332.301730 deg,
      approach rate: -0.594188 m/s,
      LOS rate: 0.002466 deg/s,
      cmd heading: 332.557512 deg,
      new cmd heading: 332.560096 deg.

2025-10-25T03:58:50.027Z,1761364730.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804269 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:50.393Z,1761364730.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881824,0.450175,-0.140462],[-0.457840,0.888647,-0.026256],[0.113001,0.087462,0.989738]]
2025-10-25T03:58:50.445Z,1761364730.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:50.448Z,1761364730.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 250.293457 m,
      bearing: 332.301952 deg,
      approach rate: -0.550828 m/s,
      LOS rate: 0.000528 deg/s,
      cmd heading: 332.560108 deg,
      new cmd heading: 332.560776 deg.

2025-10-25T03:58:50.466Z,1761364730.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804280 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:50.803Z,1761364730.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881351,0.450284,-0.143055],[-0.458306,0.888375,-0.027319],[0.114785,0.089640,0.989338]]
2025-10-25T03:58:50.833Z,1761364730.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:50.835Z,1761364730.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:50.838Z,1761364730.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 250.086533 m,
      bearing: 332.302181 deg,
      approach rate: -0.529778 m/s,
      LOS rate: 0.000585 deg/s,
      cmd heading: 332.560763 deg,
      new cmd heading: 332.561449 deg.

2025-10-25T03:58:50.839Z,1761364730.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804292 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:51.045Z,1761364731.045 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:51.045Z,1761364731.045 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:51.046Z,1761364731.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:51.200Z,1761364731.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881503,0.449431,-0.144791],[-0.457761,0.888614,-0.028640],[0.115792,0.091525,0.989048]]
2025-10-25T03:58:51.254Z,1761364731.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:51.257Z,1761364731.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 249.849426 m,
      bearing: 332.301578 deg,
      approach rate: -0.565765 m/s,
      LOS rate: -0.001439 deg/s,
      cmd heading: 332.561446 deg,
      new cmd heading: 332.559637 deg.

2025-10-25T03:58:51.258Z,1761364731.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804261 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:51.299Z,1761364731.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760904
2025-10-25T03:58:51.550Z,1761364731.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011571
2025-10-25T03:58:51.605Z,1761364731.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881645,0.448776,-0.145953],[-0.457361,0.888777,-0.029931],[0.116288,0.093142,0.988839]]
2025-10-25T03:58:51.626Z,1761364731.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:51.628Z,1761364731.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 249.644623 m,
      bearing: 332.301036 deg,
      approach rate: -0.551395 m/s,
      LOS rate: -0.001461 deg/s,
      cmd heading: 332.559643 deg,
      new cmd heading: 332.558015 deg.

2025-10-25T03:58:51.645Z,1761364731.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804232 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:51.802Z,1761364731.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263592
2025-10-25T03:58:52.043Z,1761364732.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881261,0.449291,-0.146685],[-0.457931,0.888489,-0.029771],[0.116952,0.093408,0.988735]]
2025-10-25T03:58:52.054Z,1761364732.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515565
2025-10-25T03:58:52.084Z,1761364732.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:52.095Z,1761364732.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 249.403519 m,
      bearing: 332.300434 deg,
      approach rate: -0.526978 m/s,
      LOS rate: -0.001316 deg/s,
      cmd heading: 332.558004 deg,
      new cmd heading: 332.556197 deg.

2025-10-25T03:58:52.096Z,1761364732.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804201 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:52.307Z,1761364732.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768481
2025-10-25T03:58:52.441Z,1761364732.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880814,0.450237,-0.146472],[-0.458736,0.888109,-0.028687],[0.117167,0.092460,0.988799]]
2025-10-25T03:58:52.496Z,1761364732.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:52.500Z,1761364732.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 249.164368 m,
      bearing: 332.298152 deg,
      approach rate: -0.579518 m/s,
      LOS rate: -0.005535 deg/s,
      cmd heading: 332.556201 deg,
      new cmd heading: 332.549348 deg.

2025-10-25T03:58:52.521Z,1761364732.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804081 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:52.558Z,1761364732.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019484
2025-10-25T03:58:52.810Z,1761364732.810 [DAT](INFO): DAT read: Rx Time:03:58:51.8868

2025-10-25T03:58:52.810Z,1761364732.810 [DAT](INFO): Rx dataTimestamp_ set to:1761364732.809803
2025-10-25T03:58:52.811Z,1761364732.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272492
2025-10-25T03:58:52.858Z,1761364732.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880348,0.451222,-0.146243],[-0.459570,0.887715,-0.027528],[0.117401,0.091443,0.988866]]
2025-10-25T03:58:52.891Z,1761364732.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:52.898Z,1761364732.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:52.913Z,1761364732.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 248.948044 m,
      bearing: 332.296133 deg,
      approach rate: -0.538541 m/s,
      LOS rate: -0.005031 deg/s,
      cmd heading: 332.549343 deg,
      new cmd heading: 332.543281 deg.

2025-10-25T03:58:52.914Z,1761364732.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803975 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:53.061Z,1761364733.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523344
2025-10-25T03:58:53.252Z,1761364733.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880054,0.451564,-0.146952],[-0.459973,0.887508,-0.027455],[0.118023,0.091756,0.988763]]
2025-10-25T03:58:53.318Z,1761364733.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779424
2025-10-25T03:58:53.373Z,1761364733.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.04 m.
2025-10-25T03:58:53.375Z,1761364733.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.044708 m,
      nav range: 248.720322 m,
      bearing: 332.293743 deg,
      approach rate: -0.484220 m/s,
      LOS rate: -0.005087 deg/s,
      cmd heading: 332.543278 deg,
      new cmd heading: 332.536101 deg.

2025-10-25T03:58:53.381Z,1761364733.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803850 target range: 258.044708 and range: 259.20 m.
2025-10-25T03:58:53.573Z,1761364733.573 [DAT](INFO): DAT read: 03:58:51.8868 LVL= 18496, 20945, 15410, 19219, AGC= 63, IDX=  98,-0.24, 0.045,-1.257, 0.098,-0.794, PHS= 0.927,-0.416, 0.889, RAW= 148.6, -20.5, CAL= 153.8, -27.5, ROT= 356.2,  27.5

2025-10-25T03:58:53.574Z,1761364733.574 [DAT](INFO): got valid direction response:
 03:58:51.8868 LVL= 18496, 20945, 15410, 19219, AGC= 63, IDX=  98,-0.24, 0.045,-1.257, 0.098,-0.794, PHS= 0.927,-0.416, 0.889, RAW= 148.6, -20.5, CAL= 153.8, -27.5, ROT= 356.2,  27.5

2025-10-25T03:58:53.575Z,1761364733.575 [DAT](INFO): DAT read: Bearing 356.2,  27.5 (Local)

2025-10-25T03:58:53.575Z,1761364733.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  27.5 (Local)

2025-10-25T03:58:53.577Z,1761364733.577 [DAT](INFO): DAT read: Range 10 to 50 : 271.1 m  (Round-trip  361.5 ms) speed  0.4 m/s

2025-10-25T03:58:53.578Z,1761364733.578 [DAT](INFO): DAT read: user:235>

2025-10-25T03:58:53.579Z,1761364733.579 [DAT](INFO): DAT read: Tx time:03:58:52.9711

2025-10-25T03:58:53.579Z,1761364733.579 [DAT](INFO): Ping request sent.
2025-10-25T03:58:53.579Z,1761364733.579 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:53.580Z,1761364733.580 [DAT](INFO): DAT read: TxSync time:03:58:52.9704

2025-10-25T03:58:53.581Z,1761364733.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:53.583Z,1761364733.583 [DAT](INFO): direction in FSK: [0.885061,-0.058785,-0.461749]
2025-10-25T03:58:53.583Z,1761364733.583 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:53.583Z,1761364733.583 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:53.587Z,1761364733.587 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:53.587Z,1761364733.587 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:53.689Z,1761364733.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879389,0.452962,-0.146634],[-0.461177,0.886928,-0.025976],[0.118288,0.090467,0.988850]]
2025-10-25T03:58:53.735Z,1761364733.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.100006 m,
      deltaT: 4.040720 s,
      deltaX: 11.899994 m,
      approachRate: 2.945018 m/s,
      rangeRepo size: 4

2025-10-25T03:58:53.737Z,1761364733.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.895447 m,
      bearing: 331.315665 deg,
      lat: 36.779387 deg,
      lon: -121.859823 deg,
      deltaT: 4.040720 s,
      deltaX: 11.850739 m,
      approachRate: 2.932828 m/s,
      posRepo size: 4

2025-10-25T03:58:53.737Z,1761364733.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:53.740Z,1761364733.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 251.219955 m,
      bearing: 331.679663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005087 deg/s,
      cmd heading: 332.536093 deg,
      new cmd heading: 332.530505 deg.

2025-10-25T03:58:53.757Z,1761364733.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803752 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:54.078Z,1761364734.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878718,0.453947,-0.147606],[-0.462196,0.886413,-0.025441],[0.119291,0.090579,0.988719]]
2025-10-25T03:58:54.102Z,1761364734.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:54.105Z,1761364734.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 251.002762 m,
      bearing: 331.677001 deg,
      approach rate: -0.590006 m/s,
      LOS rate: -0.007240 deg/s,
      cmd heading: 332.530492 deg,
      new cmd heading: 332.522496 deg.

2025-10-25T03:58:54.106Z,1761364734.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803612 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:54.483Z,1761364734.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878443,0.456764,-0.140373],[-0.462600,0.886508,-0.010279],[0.119746,0.073966,0.990045]]
2025-10-25T03:58:54.540Z,1761364734.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:54.547Z,1761364734.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 250.763535 m,
      bearing: 331.676103 deg,
      approach rate: -0.545929 m/s,
      LOS rate: -0.002051 deg/s,
      cmd heading: 332.522487 deg,
      new cmd heading: 332.519791 deg.

2025-10-25T03:58:54.553Z,1761364734.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803565 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:54.883Z,1761364734.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878874,0.455660,-0.141259],[-0.461893,0.886839,-0.013081],[0.119314,0.076743,0.989886]]
2025-10-25T03:58:54.910Z,1761364734.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:54.913Z,1761364734.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:54.915Z,1761364734.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 250.542084 m,
      bearing: 331.675222 deg,
      approach rate: -0.595077 m/s,
      LOS rate: -0.002370 deg/s,
      cmd heading: 332.519782 deg,
      new cmd heading: 332.517137 deg.

2025-10-25T03:58:54.916Z,1761364734.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803519 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:55.077Z,1761364735.077 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:55.077Z,1761364735.077 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:55.078Z,1761364735.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:55.297Z,1761364735.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879419,0.454026,-0.143118],[-0.460818,0.887339,-0.016608],[0.119454,0.080556,0.989566]]
2025-10-25T03:58:55.329Z,1761364735.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750218
2025-10-25T03:58:55.380Z,1761364735.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:55.394Z,1761364735.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 250.291489 m,
      bearing: 331.674752 deg,
      approach rate: -0.535753 m/s,
      LOS rate: -0.001006 deg/s,
      cmd heading: 332.517132 deg,
      new cmd heading: 332.515721 deg.

2025-10-25T03:58:55.395Z,1761364735.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803494 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:55.582Z,1761364735.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003210
2025-10-25T03:58:55.691Z,1761364735.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880301,0.451686,-0.145089],[-0.459070,0.888168,-0.020313],[0.119688,0.084487,0.989210]]
2025-10-25T03:58:55.711Z,1761364735.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:55.715Z,1761364735.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 250.078888 m,
      bearing: 331.674248 deg,
      approach rate: -0.642050 m/s,
      LOS rate: -0.001522 deg/s,
      cmd heading: 332.515711 deg,
      new cmd heading: 332.514199 deg.

2025-10-25T03:58:55.716Z,1761364735.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803468 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:55.834Z,1761364735.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254399
2025-10-25T03:58:56.086Z,1761364736.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506371
2025-10-25T03:58:56.094Z,1761364736.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880848,0.449936,-0.147186],[-0.457891,0.888694,-0.023623],[0.120174,0.088204,0.988827]]
2025-10-25T03:58:56.113Z,1761364736.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:56.129Z,1761364736.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 249.846390 m,
      bearing: 331.673619 deg,
      approach rate: -0.578323 m/s,
      LOS rate: -0.001568 deg/s,
      cmd heading: 332.514209 deg,
      new cmd heading: 332.512318 deg.

2025-10-25T03:58:56.130Z,1761364736.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803435 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:56.338Z,1761364736.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758510
2025-10-25T03:58:56.494Z,1761364736.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:58:56.583Z,1761364736.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:56.585Z,1761364736.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 249.569321 m,
      bearing: 331.673838 deg,
      approach rate: -0.591343 m/s,
      LOS rate: 0.000468 deg/s,
      cmd heading: 332.512324 deg,
      new cmd heading: 332.512982 deg.

2025-10-25T03:58:56.586Z,1761364736.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803446 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:56.606Z,1761364736.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026690
2025-10-25T03:58:56.858Z,1761364736.858 [DAT](INFO): DAT read: Rx Time:03:58:55.7341

2025-10-25T03:58:56.859Z,1761364736.859 [DAT](INFO): Rx dataTimestamp_ set to:1761364736.858481
2025-10-25T03:58:56.860Z,1761364736.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280497
2025-10-25T03:58:56.922Z,1761364736.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880568,0.449440,-0.150345],[-0.458184,0.888424,-0.027732],[0.121106,0.093306,0.988245]]
2025-10-25T03:58:56.938Z,1761364736.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:56.940Z,1761364736.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.90 m.
2025-10-25T03:58:56.955Z,1761364736.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.895447 m,
      nav range: 249.357407 m,
      bearing: 331.674015 deg,
      approach rate: -0.591174 m/s,
      LOS rate: 0.000494 deg/s,
      cmd heading: 332.512979 deg,
      new cmd heading: 332.513510 deg.

2025-10-25T03:58:56.956Z,1761364736.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803455 target range: 269.895447 and range: 271.10 m.
2025-10-25T03:58:57.110Z,1761364737.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530489
2025-10-25T03:58:57.353Z,1761364737.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880183,0.449828,-0.151436],[-0.458788,0.888085,-0.028606],[0.121620,0.094655,0.988053]]
2025-10-25T03:58:57.369Z,1761364737.369 [DAT](INFO): DAT read: 03:58:55.7341 LVL= 18128, 27713, 17250, 31987, AGC= 62, IDX= 406, 0.04,-2.245, 2.915,-2.182,-3.077, PHS= 0.920,-0.244, 0.892, RAW= 148.8, -25.7, CAL= 153.0, -32.0, ROT= 357.0,  32.0

2025-10-25T03:58:57.370Z,1761364737.370 [DAT](INFO): got valid direction response:
 03:58:55.7341 LVL= 18128, 27713, 17250, 31987, AGC= 62, IDX= 406, 0.04,-2.245, 2.915,-2.182,-3.077, PHS= 0.920,-0.244, 0.892, RAW= 148.8, -25.7, CAL= 153.0, -32.0, ROT= 357.0,  32.0

2025-10-25T03:58:57.371Z,1761364737.371 [DAT](INFO): DAT read: Bearing 357.0,  32.0 (Local)

2025-10-25T03:58:57.371Z,1761364737.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  32.0 (Local)

2025-10-25T03:58:57.373Z,1761364737.373 [DAT](INFO): DAT read: Range 10 to 50 : 269.0 m  (Round-trip  358.7 ms) speed  0.4 m/s

2025-10-25T03:58:57.374Z,1761364737.374 [DAT](INFO): DAT read: user:236>

2025-10-25T03:58:57.375Z,1761364737.375 [DAT](INFO): DAT read: Tx time:03:58:56.8212

2025-10-25T03:58:57.375Z,1761364737.375 [DAT](INFO): Ping request sent.
2025-10-25T03:58:57.375Z,1761364737.375 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:58:57.376Z,1761364737.376 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:58:57.380Z,1761364737.380 [DAT](INFO): direction in FSK: [0.846886,-0.044383,-0.529919]
2025-10-25T03:58:57.383Z,1761364737.383 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:57.383Z,1761364737.383 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:57.400Z,1761364737.400 [DAT](INFO): publishing transmit ping time
2025-10-25T03:58:57.400Z,1761364737.400 [DAT](INFO): publishing direction and range info
2025-10-25T03:58:57.499Z,1761364737.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:58:57.523Z,1761364737.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.000000 m,
      deltaT: 3.795427 s,
      deltaX: -2.100006 m,
      approachRate: -0.553299 m/s,
      rangeRepo size: 4

2025-10-25T03:58:57.529Z,1761364737.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.792847 m,
      bearing: 332.871724 deg,
      lat: 36.779387 deg,
      lon: -121.859782 deg,
      deltaT: 3.795427 s,
      deltaX: -2.102600 m,
      approachRate: -0.553982 m/s,
      posRepo size: 4

2025-10-25T03:58:57.530Z,1761364737.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:57.574Z,1761364737.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 247.327301 m,
      bearing: 332.419373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000494 deg/s,
      cmd heading: 332.513498 deg,
      new cmd heading: 332.514361 deg.

2025-10-25T03:58:57.575Z,1761364737.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803471 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:57.616Z,1761364737.616 [DAT](INFO): DAT read: TxSync time:03:58:56.8205

2025-10-25T03:58:58.042Z,1761364738.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878365,0.451436,-0.157097],[-0.461764,0.886316,-0.034900],[0.123482,0.103196,0.986966]]
2025-10-25T03:58:58.116Z,1761364738.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:58.124Z,1761364738.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 246.978485 m,
      bearing: 332.424209 deg,
      approach rate: -0.589157 m/s,
      LOS rate: 0.008179 deg/s,
      cmd heading: 332.514373 deg,
      new cmd heading: 332.528900 deg.

2025-10-25T03:58:58.129Z,1761364738.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803724 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:58.578Z,1761364738.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:58.601Z,1761364738.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 246.696014 m,
      bearing: 332.428341 deg,
      approach rate: -0.609380 m/s,
      LOS rate: 0.008926 deg/s,
      cmd heading: 332.528907 deg,
      new cmd heading: 332.541319 deg.

2025-10-25T03:58:58.602Z,1761364738.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803941 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:58.917Z,1761364738.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875045,0.456980,-0.159579],[-0.467236,0.883558,-0.031865],[0.126436,0.102444,0.986671]]
2025-10-25T03:58:58.922Z,1761364738.922 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-25T03:58:58.948Z,1761364738.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:58:58.950Z,1761364738.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:58.954Z,1761364738.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 246.479279 m,
      bearing: 332.431847 deg,
      approach rate: -0.582065 m/s,
      LOS rate: 0.009423 deg/s,
      cmd heading: 332.541311 deg,
      new cmd heading: 332.551837 deg.

2025-10-25T03:58:58.955Z,1761364738.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804124 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:59.127Z,1761364739.127 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:58:59.127Z,1761364739.127 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:58:59.127Z,1761364739.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:58:59.323Z,1761364739.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873481,0.460347,-0.158466],[-0.470088,0.882160,-0.028478],[0.126683,0.099368,0.986954]]
2025-10-25T03:58:59.378Z,1761364739.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002241
2025-10-25T03:58:59.387Z,1761364739.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:59.390Z,1761364739.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 246.228653 m,
      bearing: 332.435152 deg,
      approach rate: -0.573662 m/s,
      LOS rate: 0.007574 deg/s,
      cmd heading: 332.551829 deg,
      new cmd heading: 332.561756 deg.

2025-10-25T03:58:59.391Z,1761364739.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804297 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:59.630Z,1761364739.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254105
2025-10-25T03:58:59.720Z,1761364739.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872268,0.462682,-0.158348],[-0.471984,0.881253,-0.024985],[0.127984,0.096531,0.987067]]
2025-10-25T03:58:59.739Z,1761364739.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:58:59.742Z,1761364739.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 246.024643 m,
      bearing: 332.437960 deg,
      approach rate: -0.579493 m/s,
      LOS rate: 0.007981 deg/s,
      cmd heading: 332.561747 deg,
      new cmd heading: 332.570176 deg.

2025-10-25T03:58:59.743Z,1761364739.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804445 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:58:59.883Z,1761364739.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506984
2025-10-25T03:59:00.123Z,1761364740.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871650,0.463690,-0.158804],[-0.472791,0.880874,-0.023022],[0.129211,0.095148,0.987042]]
2025-10-25T03:59:00.135Z,1761364740.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759161
2025-10-25T03:59:00.173Z,1761364740.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:59:00.176Z,1761364740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 245.773621 m,
      bearing: 332.441483 deg,
      approach rate: -0.578435 m/s,
      LOS rate: 0.008127 deg/s,
      cmd heading: 332.570189 deg,
      new cmd heading: 332.580770 deg.

2025-10-25T03:59:00.177Z,1761364740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804629 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:59:00.386Z,1761364740.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010328
2025-10-25T03:59:00.608Z,1761364740.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:59:00.611Z,1761364740.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 245.537506 m,
      bearing: 332.444701 deg,
      approach rate: -0.543289 m/s,
      LOS rate: 0.007412 deg/s,
      cmd heading: 332.580762 deg,
      new cmd heading: 332.590425 deg.

2025-10-25T03:59:00.612Z,1761364740.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804798 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:59:00.638Z,1761364740.638 [DAT](INFO): DAT read: Rx Time:03:58:59.6014

2025-10-25T03:59:00.638Z,1761364740.638 [DAT](INFO): Rx dataTimestamp_ set to:1761364740.638006
2025-10-25T03:59:00.639Z,1761364740.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263440
2025-10-25T03:59:00.890Z,1761364740.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514109
2025-10-25T03:59:00.939Z,1761364740.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870729,0.463765,-0.163566],[-0.473119,0.880738,-0.021414],[0.134128,0.096032,0.986300]]
2025-10-25T03:59:00.972Z,1761364740.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:00.974Z,1761364740.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.79 m.
2025-10-25T03:59:00.977Z,1761364740.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.792847 m,
      nav range: 245.316467 m,
      bearing: 332.447757 deg,
      approach rate: -0.604189 m/s,
      LOS rate: 0.008360 deg/s,
      cmd heading: 332.590434 deg,
      new cmd heading: 332.599609 deg.

2025-10-25T03:59:00.978Z,1761364740.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804958 target range: 267.792847 and range: 269.00 m.
2025-10-25T03:59:01.155Z,1761364741.155 [DAT](INFO): DAT read: 03:58:59.6014 LVL= 16176, 17969, 14402, 19299, AGC= 64, IDX= 102, 0.33,-0.954,-2.228,-0.878,-1.902, PHS= 1.035,-0.279, 1.021, RAW= 149.4, -25.7, CAL= 153.6, -32.0, ROT= 356.4,  32.0

2025-10-25T03:59:01.157Z,1761364741.157 [DAT](INFO): got valid direction response:
 03:58:59.6014 LVL= 16176, 17969, 14402, 19299, AGC= 64, IDX= 102, 0.33,-0.954,-2.228,-0.878,-1.902, PHS= 1.035,-0.279, 1.021, RAW= 149.4, -25.7, CAL= 153.6, -32.0, ROT= 356.4,  32.0

2025-10-25T03:59:01.159Z,1761364741.159 [DAT](INFO): DAT read: Bearing 356.4,  32.0 (Local)

2025-10-25T03:59:01.159Z,1761364741.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  32.0 (Local)

2025-10-25T03:59:01.161Z,1761364741.161 [DAT](INFO): DAT read: Range 10 to 50 : 282.0 m  (Round-trip  376.0 ms) speed  0.4 m/s

2025-10-25T03:59:01.162Z,1761364741.162 [DAT](INFO): DAT read: user:237>

2025-10-25T03:59:01.162Z,1761364741.162 [DAT](INFO): DAT read: Tx time:03:59:00.7212

2025-10-25T03:59:01.163Z,1761364741.163 [DAT](INFO): Ping request sent.
2025-10-25T03:59:01.163Z,1761364741.163 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:01.163Z,1761364741.163 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:01.165Z,1761364741.165 [DAT](INFO): direction in FSK: [0.846375,-0.053250,-0.529919]
2025-10-25T03:59:01.165Z,1761364741.165 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:01.166Z,1761364741.166 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:01.169Z,1761364741.169 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:01.170Z,1761364741.170 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:01.359Z,1761364741.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870564,0.463195,-0.166037],[-0.472782,0.880920,-0.021377],[0.136364,0.097110,0.985888]]
2025-10-25T03:59:01.394Z,1761364741.394 [DAT](INFO): DAT read: TxSync time:03:59:00.7205

2025-10-25T03:59:01.474Z,1761364741.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.000000 m,
      deltaT: 3.780683 s,
      deltaX: 13.000000 m,
      approachRate: 3.438532 m/s,
      rangeRepo size: 4

2025-10-25T03:59:01.476Z,1761364741.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 280.730347 m,
      bearing: 331.428827 deg,
      lat: 36.779387 deg,
      lon: -121.859823 deg,
      deltaT: 3.780683 s,
      deltaX: 12.937500 m,
      approachRate: 3.422001 m/s,
      posRepo size: 4

2025-10-25T03:59:01.477Z,1761364741.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:01.479Z,1761364741.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 246.746902 m,
      bearing: 331.702430 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008360 deg/s,
      cmd heading: 332.599613 deg,
      new cmd heading: 332.612140 deg.

2025-10-25T03:59:01.489Z,1761364741.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805177 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:01.759Z,1761364741.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869584,0.465211,-0.165535],[-0.473854,0.880479,-0.014789],[0.138870,0.091300,0.986093]]
2025-10-25T03:59:01.803Z,1761364741.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:01.810Z,1761364741.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 246.547699 m,
      bearing: 331.704705 deg,
      approach rate: -0.604281 m/s,
      LOS rate: 0.006907 deg/s,
      cmd heading: 332.612154 deg,
      new cmd heading: 332.618984 deg.

2025-10-25T03:59:01.811Z,1761364741.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805296 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:02.170Z,1761364742.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870557,0.462204,-0.168811],[-0.471452,0.881725,-0.017113],[0.140935,0.094484,0.985500]]
2025-10-25T03:59:02.195Z,1761364742.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:02.199Z,1761364742.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 246.317276 m,
      bearing: 331.707196 deg,
      approach rate: -0.587229 m/s,
      LOS rate: 0.006354 deg/s,
      cmd heading: 332.618984 deg,
      new cmd heading: 332.626464 deg.

2025-10-25T03:59:02.200Z,1761364742.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805427 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:02.552Z,1761364742.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871695,0.458723,-0.172396],[-0.468665,0.883154,-0.019781],[0.143179,0.098039,0.984829]]
2025-10-25T03:59:02.616Z,1761364742.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:02.623Z,1761364742.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 246.092636 m,
      bearing: 331.708498 deg,
      approach rate: -0.534351 m/s,
      LOS rate: 0.003099 deg/s,
      cmd heading: 332.626470 deg,
      new cmd heading: 332.630378 deg.

2025-10-25T03:59:02.624Z,1761364742.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805495 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:02.958Z,1761364742.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872639,0.456226,-0.174238],[-0.466577,0.884219,-0.021521],[0.144246,0.100076,0.984468]]
2025-10-25T03:59:02.975Z,1761364742.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:02.978Z,1761364742.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:02.980Z,1761364742.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 245.873215 m,
      bearing: 331.709651 deg,
      approach rate: -0.606488 m/s,
      LOS rate: 0.003188 deg/s,
      cmd heading: 332.630377 deg,
      new cmd heading: 332.633837 deg.

2025-10-25T03:59:02.982Z,1761364742.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805556 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:03.165Z,1761364743.165 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:03.165Z,1761364743.165 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:03.165Z,1761364743.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:03.414Z,1761364743.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981
2025-10-25T03:59:03.440Z,1761364743.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:03.443Z,1761364743.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 245.612427 m,
      bearing: 331.710448 deg,
      approach rate: -0.563734 m/s,
      LOS rate: 0.001726 deg/s,
      cmd heading: 332.633846 deg,
      new cmd heading: 332.636242 deg.

2025-10-25T03:59:03.444Z,1761364743.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805598 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:03.666Z,1761364743.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502875
2025-10-25T03:59:03.763Z,1761364743.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873458,0.453085,-0.178284],[-0.464158,0.885432,-0.023819],[0.147066,0.103557,0.983691]]
2025-10-25T03:59:03.801Z,1761364743.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:03.804Z,1761364743.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 245.419586 m,
      bearing: 331.710921 deg,
      approach rate: -0.534999 m/s,
      LOS rate: 0.001314 deg/s,
      cmd heading: 332.636250 deg,
      new cmd heading: 332.637671 deg.

2025-10-25T03:59:03.805Z,1761364743.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805623 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:03.918Z,1761364743.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754903
2025-10-25T03:59:04.170Z,1761364744.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007017
2025-10-25T03:59:04.224Z,1761364744.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:04.227Z,1761364744.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 245.171432 m,
      bearing: 331.711532 deg,
      approach rate: -0.586110 m/s,
      LOS rate: 0.001443 deg/s,
      cmd heading: 332.637671 deg,
      new cmd heading: 332.639503 deg.

2025-10-25T03:59:04.228Z,1761364744.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805655 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:04.422Z,1761364744.422 [DAT](INFO): DAT read: Rx Time:03:59:03.4791

2025-10-25T03:59:04.422Z,1761364744.422 [DAT](INFO): Rx dataTimestamp_ set to:1761364744.421793
2025-10-25T03:59:04.423Z,1761364744.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259968
2025-10-25T03:59:04.572Z,1761364744.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873089,0.452630,-0.181220],[-0.463929,0.885567,-0.023273],[0.149949,0.104393,0.983167]]
2025-10-25T03:59:04.617Z,1761364744.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:04.620Z,1761364744.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 244.953278 m,
      bearing: 331.710435 deg,
      approach rate: -0.555476 m/s,
      LOS rate: -0.002795 deg/s,
      cmd heading: 332.639502 deg,
      new cmd heading: 332.636208 deg.

2025-10-25T03:59:04.641Z,1761364744.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805597 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:04.676Z,1761364744.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513237
2025-10-25T03:59:04.928Z,1761364744.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764919
2025-10-25T03:59:04.978Z,1761364744.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872944,0.452635,-0.181910],[-0.463693,0.885742,-0.021221],[0.151520,0.102875,0.983086]]
2025-10-25T03:59:04.996Z,1761364744.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:05.000Z,1761364745.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.73 m.
2025-10-25T03:59:05.003Z,1761364745.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.730347 m,
      nav range: 244.740341 m,
      bearing: 331.709356 deg,
      approach rate: -0.555294 m/s,
      LOS rate: -0.002815 deg/s,
      cmd heading: 332.636196 deg,
      new cmd heading: 332.632957 deg.

2025-10-25T03:59:05.004Z,1761364745.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805540 target range: 280.730347 and range: 282.00 m.
2025-10-25T03:59:05.186Z,1761364745.186 [DAT](INFO): DAT read: 03:59:03.4791 LVL= 20608, 18417, 18786, 27427, AGC= 66, IDX= 209, 0.42,-2.674, 2.391,-2.620, 2.691, PHS= 1.007,-0.253, 0.970, RAW= 148.5, -26.1, CAL= 152.6, -32.3, ROT= 357.4,  32.3

2025-10-25T03:59:05.187Z,1761364745.187 [DAT](INFO): got valid direction response:
 03:59:03.4791 LVL= 20608, 18417, 18786, 27427, AGC= 66, IDX= 209, 0.42,-2.674, 2.391,-2.620, 2.691, PHS= 1.007,-0.253, 0.970, RAW= 148.5, -26.1, CAL= 152.6, -32.3, ROT= 357.4,  32.3

2025-10-25T03:59:05.188Z,1761364745.188 [DAT](INFO): DAT read: Bearing 357.4,  32.3 (Local)

2025-10-25T03:59:05.189Z,1761364745.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  32.3 (Local)

2025-10-25T03:59:05.191Z,1761364745.191 [DAT](INFO): DAT read: Range 10 to 50 : 265.2 m  (Round-trip  353.6 ms) speed  0.3 m/s

2025-10-25T03:59:05.191Z,1761364745.191 [DAT](INFO): DAT read: user:238>

2025-10-25T03:59:05.192Z,1761364745.192 [DAT](INFO): DAT read: Tx time:03:59:04.5713

2025-10-25T03:59:05.195Z,1761364745.195 [DAT](INFO): Ping request sent.
2025-10-25T03:59:05.195Z,1761364745.195 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:05.230Z,1761364745.230 [DAT](INFO): DAT read: TxSync time:03:59:04.5706

2025-10-25T03:59:05.231Z,1761364745.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:05.234Z,1761364745.234 [DAT](INFO): direction in FSK: [0.844392,-0.038344,-0.534352]
2025-10-25T03:59:05.234Z,1761364745.234 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:05.235Z,1761364745.235 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:05.286Z,1761364745.286 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:05.287Z,1761364745.287 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:05.501Z,1761364745.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.200012 m,
      deltaT: 4.036160 s,
      deltaX: -16.799988 m,
      approachRate: -4.162369 m/s,
      rangeRepo size: 4

2025-10-25T03:59:05.503Z,1761364745.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.005005 m,
      bearing: 333.116918 deg,
      lat: 36.779391 deg,
      lon: -121.859782 deg,
      deltaT: 4.036160 s,
      deltaX: -16.725342 m,
      approachRate: -4.143875 m/s,
      posRepo size: 4

2025-10-25T03:59:05.504Z,1761364745.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:05.522Z,1761364745.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 243.136917 m,
      bearing: 332.508058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002815 deg/s,
      cmd heading: 332.632945 deg,
      new cmd heading: 332.628758 deg.

2025-10-25T03:59:05.524Z,1761364745.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805467 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:05.786Z,1761364745.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871654,0.454597,-0.183194],[-0.465001,0.885166,-0.015970],[0.154897,0.099106,0.982947]]
2025-10-25T03:59:05.811Z,1761364745.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:05.815Z,1761364745.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 242.946457 m,
      bearing: 332.507064 deg,
      approach rate: -0.604472 m/s,
      LOS rate: -0.003158 deg/s,
      cmd heading: 332.628765 deg,
      new cmd heading: 332.625780 deg.

2025-10-25T03:59:05.816Z,1761364745.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805415 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:06.188Z,1761364746.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871457,0.454403,-0.184610],[-0.464787,0.885296,-0.014953],[0.156640,0.098835,0.982698]]
2025-10-25T03:59:06.214Z,1761364746.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:06.217Z,1761364746.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 242.720825 m,
      bearing: 332.505879 deg,
      approach rate: -0.560107 m/s,
      LOS rate: -0.002945 deg/s,
      cmd heading: 332.625787 deg,
      new cmd heading: 332.622228 deg.

2025-10-25T03:59:06.218Z,1761364746.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805353 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:06.593Z,1761364746.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871476,0.453908,-0.185737],[-0.464267,0.885583,-0.014131],[0.158071,0.098546,0.982498]]
2025-10-25T03:59:06.680Z,1761364746.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:06.687Z,1761364746.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 242.484558 m,
      bearing: 332.503296 deg,
      approach rate: -0.534240 m/s,
      LOS rate: -0.005846 deg/s,
      cmd heading: 332.622235 deg,
      new cmd heading: 332.614479 deg.

2025-10-25T03:59:06.688Z,1761364746.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805218 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:06.000Z,1761364747.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871839,0.453052,-0.186119],[-0.463489,0.885985,-0.014458],[0.158348,0.098869,0.982421]]
2025-10-25T03:59:07.055Z,1761364747.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:07.062Z,1761364747.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:07.072Z,1761364747.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 242.271576 m,
      bearing: 332.500919 deg,
      approach rate: -0.525210 m/s,
      LOS rate: -0.005867 deg/s,
      cmd heading: 332.614476 deg,
      new cmd heading: 332.607339 deg.

2025-10-25T03:59:07.082Z,1761364747.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805093 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:07.194Z,1761364747.194 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:07.194Z,1761364747.194 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:07.194Z,1761364747.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:07.418Z,1761364747.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871973,0.452685,-0.186385],[-0.463079,0.886206,-0.014056],[0.158812,0.098567,0.982376]]
2025-10-25T03:59:07.446Z,1761364747.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250803
2025-10-25T03:59:07.458Z,1761364747.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:07.486Z,1761364747.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 242.037277 m,
      bearing: 332.498323 deg,
      approach rate: -0.591071 m/s,
      LOS rate: -0.006556 deg/s,
      cmd heading: 332.607345 deg,
      new cmd heading: 332.599548 deg.

2025-10-25T03:59:07.487Z,1761364747.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804957 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:07.698Z,1761364747.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503361
2025-10-25T03:59:07.808Z,1761364747.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872205,0.452082,-0.186762],[-0.462479,0.886521,-0.013903],[0.159283,0.098500,0.982307]]
2025-10-25T03:59:07.828Z,1761364747.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:07.847Z,1761364747.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 241.834854 m,
      bearing: 332.496044 deg,
      approach rate: -0.547334 m/s,
      LOS rate: -0.006166 deg/s,
      cmd heading: 332.599559 deg,
      new cmd heading: 332.592718 deg.

2025-10-25T03:59:07.849Z,1761364747.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804838 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:07.951Z,1761364747.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756243
2025-10-25T03:59:08.203Z,1761364748.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008186
2025-10-25T03:59:08.220Z,1761364748.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872068,0.452228,-0.187049],[-0.462568,0.886483,-0.013356],[0.159776,0.098170,0.982260]]
2025-10-25T03:59:08.246Z,1761364748.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:08.248Z,1761364748.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 241.605988 m,
      bearing: 332.493472 deg,
      approach rate: -0.547851 m/s,
      LOS rate: -0.006164 deg/s,
      cmd heading: 332.592729 deg,
      new cmd heading: 332.585003 deg.

2025-10-25T03:59:08.249Z,1761364748.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804703 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:08.454Z,1761364748.454 [DAT](INFO): DAT read: Rx Time:03:59:07.3262

2025-10-25T03:59:08.454Z,1761364748.454 [DAT](INFO): Rx dataTimestamp_ set to:1761364748.453719
2025-10-25T03:59:08.455Z,1761364748.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259766
2025-10-25T03:59:08.617Z,1761364748.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872292,0.451348,-0.188127],[-0.461834,0.886861,-0.013666],[0.160675,0.098805,0.982050]]
2025-10-25T03:59:08.673Z,1761364748.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.01 m.
2025-10-25T03:59:08.676Z,1761364748.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.005005 m,
      nav range: 241.380478 m,
      bearing: 332.491257 deg,
      approach rate: -0.548772 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 332.584997 deg,
      new cmd heading: 332.578346 deg.

2025-10-25T03:59:08.682Z,1761364748.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804587 target range: 264.005005 and range: 265.20 m.
2025-10-25T03:59:08.706Z,1761364748.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510908
2025-10-25T03:59:08.963Z,1761364748.963 [DAT](INFO): DAT read: 03:59:07.3262 LVL= 21360, 24785, 17074, 31571, AGC= 64, IDX= 420,-0.23, 0.564,-1.020, 0.492,-0.228, PHS= 0.879,-0.745, 0.717, RAW= 144.8, -11.0, CAL= 151.9, -19.9, ROT= 358.1,  19.9

2025-10-25T03:59:08.965Z,1761364748.965 [DAT](INFO): got valid direction response:
 03:59:07.3262 LVL= 21360, 24785, 17074, 31571, AGC= 64, IDX= 420,-0.23, 0.564,-1.020, 0.492,-0.228, PHS= 0.879,-0.745, 0.717, RAW= 144.8, -11.0, CAL= 151.9, -19.9, ROT= 358.1,  19.9

2025-10-25T03:59:08.966Z,1761364748.966 [DAT](INFO): DAT read: Bearing 358.1,  19.9 (Local)

2025-10-25T03:59:08.967Z,1761364748.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  19.9 (Local)

2025-10-25T03:59:08.968Z,1761364748.968 [DAT](INFO): DAT read: Range 10 to 50 : 263.0 m  (Round-trip  350.7 ms) speed  0.8 m/s

2025-10-25T03:59:08.969Z,1761364748.969 [DAT](INFO): DAT read: user:239>

2025-10-25T03:59:08.970Z,1761364748.970 [DAT](INFO): DAT read: Tx time:03:59:08.4213

2025-10-25T03:59:08.970Z,1761364748.970 [DAT](INFO): Ping request sent.
2025-10-25T03:59:08.970Z,1761364748.970 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:08.970Z,1761364748.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:08.971Z,1761364748.971 [DAT](INFO): direction in FSK: [0.939771,-0.031175,-0.340380]
2025-10-25T03:59:08.972Z,1761364748.972 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:08.972Z,1761364748.972 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:08.980Z,1761364748.980 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:08.980Z,1761364748.980 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:09.022Z,1761364749.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872035,0.451603,-0.188705],[-0.462061,0.886751,-0.013113],[0.161413,0.098628,0.981946]]
2025-10-25T03:59:09.119Z,1761364749.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.000000 m,
      deltaT: 3.778973 s,
      deltaX: -2.200012 m,
      approachRate: -0.582172 m/s,
      rangeRepo size: 4

2025-10-25T03:59:09.125Z,1761364749.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.812256 m,
      bearing: 332.257236 deg,
      lat: 36.779391 deg,
      lon: -121.859844 deg,
      deltaT: 3.778973 s,
      deltaX: -2.192749 m,
      approachRate: -0.580250 m/s,
      posRepo size: 4

2025-10-25T03:59:09.126Z,1761364749.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:09.133Z,1761364749.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 243.718872 m,
      bearing: 331.351625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 332.578358 deg,
      new cmd heading: 332.570888 deg.

2025-10-25T03:59:09.134Z,1761364749.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804457 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:09.211Z,1761364749.211 [DAT](INFO): DAT read: TxSync time:03:59:08.4206

2025-10-25T03:59:09.458Z,1761364749.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871678,0.451769,-0.189952],[-0.462266,0.886653,-0.012551],[0.162751,0.098749,0.981713]]
2025-10-25T03:59:09.554Z,1761364749.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:09.556Z,1761364749.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:09.567Z,1761364749.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 243.461639 m,
      bearing: 331.349832 deg,
      approach rate: -0.587613 m/s,
      LOS rate: -0.004101 deg/s,
      cmd heading: 332.570899 deg,
      new cmd heading: 332.565513 deg.

2025-10-25T03:59:09.568Z,1761364749.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804363 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:09.713Z,1761364749.713 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:09.713Z,1761364749.713 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:09.714Z,1761364749.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:09.835Z,1761364749.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871215,0.452340,-0.190719],[-0.462463,0.886584,-0.009791],[0.164659,0.096731,0.981596]]
2025-10-25T03:59:09.862Z,1761364749.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:09.866Z,1761364749.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 243.288223 m,
      bearing: 331.348640 deg,
      approach rate: -0.566947 m/s,
      LOS rate: -0.003898 deg/s,
      cmd heading: 332.565517 deg,
      new cmd heading: 332.561940 deg.

2025-10-25T03:59:09.867Z,1761364749.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804301 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:09.966Z,1761364749.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995977
2025-10-25T03:59:10.230Z,1761364750.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259418
2025-10-25T03:59:10.234Z,1761364750.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870763,0.452555,-0.192265],[-0.462672,0.886486,-0.008809],[0.166454,0.096626,0.981303]]
2025-10-25T03:59:10.264Z,1761364750.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:10.284Z,1761364750.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 243.071198 m,
      bearing: 331.347167 deg,
      approach rate: -0.539956 m/s,
      LOS rate: -0.003669 deg/s,
      cmd heading: 332.561938 deg,
      new cmd heading: 332.557514 deg.

2025-10-25T03:59:10.290Z,1761364750.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804224 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:10.483Z,1761364750.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512459
2025-10-25T03:59:10.713Z,1761364750.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:10.721Z,1761364750.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 242.831924 m,
      bearing: 331.346724 deg,
      approach rate: -0.558100 m/s,
      LOS rate: -0.001034 deg/s,
      cmd heading: 332.557512 deg,
      new cmd heading: 332.556182 deg.

2025-10-25T03:59:10.722Z,1761364750.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804200 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:10.734Z,1761364750.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763980
2025-10-25T03:59:10.986Z,1761364750.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396
2025-10-25T03:59:11.050Z,1761364751.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870757,0.452450,-0.192538],[-0.462378,0.886651,-0.007547],[0.167299,0.095597,0.981261]]
2025-10-25T03:59:11.070Z,1761364751.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:11.072Z,1761364751.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 242.624237 m,
      bearing: 331.346329 deg,
      approach rate: -0.552044 m/s,
      LOS rate: -0.001051 deg/s,
      cmd heading: 332.556173 deg,
      new cmd heading: 332.554987 deg.

2025-10-25T03:59:11.074Z,1761364751.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804180 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:11.238Z,1761364751.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267284
2025-10-25T03:59:11.489Z,1761364751.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519155
2025-10-25T03:59:11.547Z,1761364751.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:11.551Z,1761364751.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 242.355942 m,
      bearing: 331.347919 deg,
      approach rate: -0.561212 m/s,
      LOS rate: 0.003330 deg/s,
      cmd heading: 332.554999 deg,
      new cmd heading: 332.559774 deg.

2025-10-25T03:59:11.552Z,1761364751.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804263 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:11.743Z,1761364751.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772169
2025-10-25T03:59:11.967Z,1761364751.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870706,0.451914,-0.194023],[-0.461929,0.886887,-0.007258],[0.168797,0.095944,0.980970]]
2025-10-25T03:59:11.989Z,1761364751.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:11.991Z,1761364751.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:12.002Z,1761364752.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031626
2025-10-25T03:59:12.010Z,1761364752.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 242.106934 m,
      bearing: 331.349375 deg,
      approach rate: -0.560438 m/s,
      LOS rate: 0.003280 deg/s,
      cmd heading: 332.559780 deg,
      new cmd heading: 332.564151 deg.

2025-10-25T03:59:12.011Z,1761364752.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804339 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:12.254Z,1761364752.254 [DAT](INFO): DAT read: Rx Time:03:59:11.1736

2025-10-25T03:59:12.254Z,1761364752.254 [DAT](INFO): Rx dataTimestamp_ set to:1761364752.253821
2025-10-25T03:59:12.255Z,1761364752.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284438
2025-10-25T03:59:12.368Z,1761364752.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870643,0.451603,-0.195028],[-0.461670,0.887024,-0.007013],[0.169827,0.096145,0.980773]]
2025-10-25T03:59:12.438Z,1761364752.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.81 m.
2025-10-25T03:59:12.462Z,1761364752.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.812256 m,
      nav range: 241.873978 m,
      bearing: 331.350728 deg,
      approach rate: -0.528166 m/s,
      LOS rate: 0.003070 deg/s,
      cmd heading: 332.564151 deg,
      new cmd heading: 332.568214 deg.

2025-10-25T03:59:12.467Z,1761364752.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804410 target range: 261.812256 and range: 263.00 m.
2025-10-25T03:59:12.506Z,1761364752.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535485
2025-10-25T03:59:12.763Z,1761364752.763 [DAT](INFO): DAT read: 03:59:11.1736 LVL= 22160, 28801, 19058, 31267, AGC= 62, IDX= 409, 0.04,-2.251, 2.433,-2.344,-3.094, PHS= 0.931,-0.710, 0.747, RAW= 144.1, -12.4, CAL= 151.1, -21.2, ROT= 358.9,  21.2

2025-10-25T03:59:12.765Z,1761364752.765 [DAT](INFO): got valid direction response:
 03:59:11.1736 LVL= 22160, 28801, 19058, 31267, AGC= 62, IDX= 409, 0.04,-2.251, 2.433,-2.344,-3.094, PHS= 0.931,-0.710, 0.747, RAW= 144.1, -12.4, CAL= 151.1, -21.2, ROT= 358.9,  21.2

2025-10-25T03:59:12.766Z,1761364752.766 [DAT](INFO): DAT read: Bearing 358.9,  21.2 (Local)

2025-10-25T03:59:12.766Z,1761364752.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  21.2 (Local)

2025-10-25T03:59:12.768Z,1761364752.768 [DAT](INFO): DAT read: Range 10 to 50 : 261.0 m  (Round-trip  348.1 ms) speed  0.4 m/s

2025-10-25T03:59:12.769Z,1761364752.769 [DAT](INFO): DAT read: user:240>

2025-10-25T03:59:12.770Z,1761364752.770 [DAT](INFO): DAT read: Tx time:03:59:12.2713

2025-10-25T03:59:12.770Z,1761364752.770 [DAT](INFO): Ping request sent.
2025-10-25T03:59:12.770Z,1761364752.770 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:12.770Z,1761364752.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:12.773Z,1761364752.773 [DAT](INFO): direction in FSK: [0.932152,-0.017898,-0.361625]
2025-10-25T03:59:12.775Z,1761364752.775 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:12.776Z,1761364752.776 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:12.799Z,1761364752.799 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:12.799Z,1761364752.799 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:12.858Z,1761364752.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870338,0.451517,-0.196578],[-0.461608,0.887062,-0.006265],[0.171549,0.096195,0.980468]]
2025-10-25T03:59:12.958Z,1761364752.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.000000 m,
      deltaT: 3.800028 s,
      deltaX: -2.000000 m,
      approachRate: -0.526312 m/s,
      rangeRepo size: 4

2025-10-25T03:59:12.960Z,1761364752.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 259.817993 m,
      bearing: 333.081971 deg,
      lat: 36.779453 deg,
      lon: -121.859838 deg,
      deltaT: 3.800028 s,
      deltaX: -1.994263 m,
      approachRate: -0.524802 m/s,
      posRepo size: 4

2025-10-25T03:59:12.965Z,1761364752.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:12.968Z,1761364752.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 247.469940 m,
      bearing: 332.222582 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003070 deg/s,
      cmd heading: 332.568222 deg,
      new cmd heading: 332.573061 deg.

2025-10-25T03:59:12.973Z,1761364752.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804495 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:13.010Z,1761364753.010 [DAT](INFO): DAT read: TxSync time:03:59:12.2707

2025-10-25T03:59:13.196Z,1761364753.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869785,0.452056,-0.197788],[-0.462125,0.886798,-0.005398],[0.172957,0.096098,0.980230]]
2025-10-25T03:59:13.222Z,1761364753.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:13.225Z,1761364753.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 247.300385 m,
      bearing: 332.225273 deg,
      approach rate: -0.640599 m/s,
      LOS rate: 0.010173 deg/s,
      cmd heading: 332.573058 deg,
      new cmd heading: 332.581136 deg.

2025-10-25T03:59:13.226Z,1761364753.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804636 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:13.602Z,1761364753.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870361,0.451118,-0.197393],[-0.460634,0.887587,-0.002590],[0.174035,0.093179,0.980321]]
2025-10-25T03:59:13.642Z,1761364753.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:13.644Z,1761364753.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 247.055191 m,
      bearing: 332.231175 deg,
      approach rate: -0.584727 m/s,
      LOS rate: 0.014090 deg/s,
      cmd heading: 332.581145 deg,
      new cmd heading: 332.598869 deg.

2025-10-25T03:59:13.646Z,1761364753.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804945 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:14.005Z,1761364754.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869744,0.451554,-0.199109],[-0.461436,0.887166,-0.003655],[0.174992,0.095055,0.979970]]
2025-10-25T03:59:14.037Z,1761364754.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:14.039Z,1761364754.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:14.042Z,1761364754.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 246.823959 m,
      bearing: 332.236802 deg,
      approach rate: -0.581516 m/s,
      LOS rate: 0.014165 deg/s,
      cmd heading: 332.598876 deg,
      new cmd heading: 332.615773 deg.

2025-10-25T03:59:14.043Z,1761364754.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805240 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:14.270Z,1761364754.270 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:14.270Z,1761364754.270 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:14.271Z,1761364754.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:14.414Z,1761364754.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869963,0.451073,-0.199245],[-0.461099,0.887338,-0.004443],[0.174793,0.095737,0.979940]]
2025-10-25T03:59:14.472Z,1761364754.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:14.494Z,1761364754.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 246.592499 m,
      bearing: 332.242422 deg,
      approach rate: -0.536516 m/s,
      LOS rate: 0.013038 deg/s,
      cmd heading: 332.615760 deg,
      new cmd heading: 332.632635 deg.

2025-10-25T03:59:14.502Z,1761364754.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805535 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:14.522Z,1761364754.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751563
2025-10-25T03:59:14.774Z,1761364754.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003897
2025-10-25T03:59:14.814Z,1761364754.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870254,0.450332,-0.199649],[-0.460483,0.887655,-0.004995],[0.174970,0.096282,0.979855]]
2025-10-25T03:59:14.922Z,1761364754.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:14.925Z,1761364754.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 246.325256 m,
      bearing: 332.249669 deg,
      approach rate: -0.592163 m/s,
      LOS rate: 0.016076 deg/s,
      cmd heading: 332.632644 deg,
      new cmd heading: 332.654410 deg.

2025-10-25T03:59:14.926Z,1761364754.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805915 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:15.026Z,1761364755.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255507
2025-10-25T03:59:15.216Z,1761364755.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870273,0.450237,-0.199777],[-0.460387,0.887705,-0.004933],[0.175122,0.096268,0.979829]]
2025-10-25T03:59:15.247Z,1761364755.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:15.250Z,1761364755.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 246.114502 m,
      bearing: 332.255391 deg,
      approach rate: -0.647477 m/s,
      LOS rate: 0.017593 deg/s,
      cmd heading: 332.654419 deg,
      new cmd heading: 332.671599 deg.

2025-10-25T03:59:15.251Z,1761364755.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806215 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:15.278Z,1761364755.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507755
2025-10-25T03:59:15.530Z,1761364755.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759657
2025-10-25T03:59:15.705Z,1761364755.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:15.707Z,1761364755.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 245.866669 m,
      bearing: 332.260776 deg,
      approach rate: -0.546975 m/s,
      LOS rate: 0.011896 deg/s,
      cmd heading: 332.671604 deg,
      new cmd heading: 332.687774 deg.

2025-10-25T03:59:15.708Z,1761364755.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806497 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:15.783Z,1761364755.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012765
2025-10-25T03:59:16.025Z,1761364756.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869819,0.450776,-0.200540],[-0.460938,0.887421,-0.004513],[0.175929,0.096362,0.979675]]
2025-10-25T03:59:16.034Z,1761364756.034 [DAT](INFO): DAT read: Rx Time:03:59:15.0217

2025-10-25T03:59:16.034Z,1761364756.034 [DAT](INFO): Rx dataTimestamp_ set to:1761364756.033969
2025-10-25T03:59:16.035Z,1761364756.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264776
2025-10-25T03:59:16.046Z,1761364756.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:16.048Z,1761364756.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-10-25T03:59:16.052Z,1761364756.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.817993 m,
      nav range: 245.650482 m,
      bearing: 332.265519 deg,
      approach rate: -0.622921 m/s,
      LOS rate: 0.013678 deg/s,
      cmd heading: 332.687777 deg,
      new cmd heading: 332.702018 deg.

2025-10-25T03:59:16.085Z,1761364756.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806746 target range: 259.817993 and range: 261.00 m.
2025-10-25T03:59:16.288Z,1761364756.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517546
2025-10-25T03:59:16.431Z,1761364756.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869979,0.450382,-0.200732],[-0.460584,0.887604,-0.004670],[0.176067,0.096517,0.979635]]
2025-10-25T03:59:16.543Z,1761364756.543 [DAT](INFO): DAT read: 03:59:15.0217 LVL= 19696, 28513, 17314, 28787, AGC= 64, IDX= 420, 0.11,-1.329,-2.854,-1.358,-2.093, PHS= 0.852,-0.714, 0.732, RAW= 146.0, -11.5, CAL= 153.2, -20.1, ROT= 356.8,  20.1

2025-10-25T03:59:16.545Z,1761364756.545 [DAT](INFO): got valid direction response:
 03:59:15.0217 LVL= 19696, 28513, 17314, 28787, AGC= 64, IDX= 420, 0.11,-1.329,-2.854,-1.358,-2.093, PHS= 0.852,-0.714, 0.732, RAW= 146.0, -11.5, CAL= 153.2, -20.1, ROT= 356.8,  20.1

2025-10-25T03:59:16.546Z,1761364756.546 [DAT](INFO): DAT read: Bearing 356.8,  20.1 (Local)

2025-10-25T03:59:16.546Z,1761364756.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  20.1 (Local)

2025-10-25T03:59:16.548Z,1761364756.548 [DAT](INFO): DAT read: Range 10 to 50 : 259.5 m  (Round-trip  346.1 ms) speed  0.8 m/s

2025-10-25T03:59:16.549Z,1761364756.549 [DAT](INFO): DAT read: user:241>

2025-10-25T03:59:16.550Z,1761364756.550 [DAT](INFO): DAT read: Tx time:03:59:16.1214

2025-10-25T03:59:16.550Z,1761364756.550 [DAT](INFO): Ping request sent.
2025-10-25T03:59:16.550Z,1761364756.550 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:16.551Z,1761364756.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:16.552Z,1761364756.552 [DAT](INFO): direction in FSK: [0.937630,-0.052422,-0.343660]
2025-10-25T03:59:16.552Z,1761364756.552 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:16.552Z,1761364756.552 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:16.556Z,1761364756.556 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:16.556Z,1761364756.556 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:16.585Z,1761364756.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.500000 m,
      deltaT: 3.780030 s,
      deltaX: -1.500000 m,
      approachRate: -0.396822 m/s,
      rangeRepo size: 4

2025-10-25T03:59:16.587Z,1761364756.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.321594 m,
      bearing: 331.026888 deg,
      lat: 36.779500 deg,
      lon: -121.859876 deg,
      deltaT: 3.780030 s,
      deltaX: -1.496399 m,
      approachRate: -0.395870 m/s,
      posRepo size: 4

2025-10-25T03:59:16.588Z,1761364756.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:16.595Z,1761364756.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 251.593140 m,
      bearing: 332.143809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013678 deg/s,
      cmd heading: 332.702012 deg,
      new cmd heading: 332.723555 deg.

2025-10-25T03:59:16.596Z,1761364756.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807122 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:16.793Z,1761364756.793 [DAT](INFO): DAT read: TxSync time:03:59:16.1207

2025-10-25T03:59:16.886Z,1761364756.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869964,0.450427,-0.200694],[-0.460593,0.887600,-0.004485],[0.176116,0.096340,0.979644]]
2025-10-25T03:59:16.985Z,1761364756.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:16.988Z,1761364756.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 251.325012 m,
      bearing: 332.148185 deg,
      approach rate: -0.663536 m/s,
      LOS rate: 0.010841 deg/s,
      cmd heading: 332.723568 deg,
      new cmd heading: 332.736709 deg.

2025-10-25T03:59:16.993Z,1761364756.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807351 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:17.262Z,1761364757.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868970,0.452543,-0.200243],[-0.462008,0.886876,-0.000608],[0.177316,0.093042,0.979746]]
2025-10-25T03:59:17.295Z,1761364757.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:17.310Z,1761364757.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 251.149582 m,
      bearing: 332.151125 deg,
      approach rate: -0.577514 m/s,
      LOS rate: 0.009685 deg/s,
      cmd heading: 332.736709 deg,
      new cmd heading: 332.745535 deg.

2025-10-25T03:59:17.311Z,1761364757.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807505 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:17.724Z,1761364757.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:17.728Z,1761364757.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 250.903229 m,
      bearing: 332.151252 deg,
      approach rate: -0.555108 m/s,
      LOS rate: 0.000286 deg/s,
      cmd heading: 332.745533 deg,
      new cmd heading: 332.745914 deg.

2025-10-25T03:59:17.729Z,1761364757.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807512 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:18.069Z,1761364758.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870090,0.449219,-0.202843],[-0.459332,0.888259,-0.003144],[0.178765,0.095907,0.979206]]
2025-10-25T03:59:18.094Z,1761364758.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:18.096Z,1761364758.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:18.101Z,1761364758.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 250.697189 m,
      bearing: 332.151219 deg,
      approach rate: -0.553877 m/s,
      LOS rate: -0.000087 deg/s,
      cmd heading: 332.745916 deg,
      new cmd heading: 332.745818 deg.

2025-10-25T03:59:18.102Z,1761364758.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807510 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:18.304Z,1761364758.304 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:18.304Z,1761364758.304 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:18.304Z,1761364758.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:18.478Z,1761364758.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871034,0.447476,-0.202644],[-0.457810,0.889038,-0.004663],[0.178072,0.096834,0.979241]]
2025-10-25T03:59:18.557Z,1761364758.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006051
2025-10-25T03:59:18.560Z,1761364758.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:18.568Z,1761364758.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 250.470642 m,
      bearing: 332.151089 deg,
      approach rate: -0.488690 m/s,
      LOS rate: -0.000281 deg/s,
      cmd heading: 332.745807 deg,
      new cmd heading: 332.745416 deg.

2025-10-25T03:59:18.573Z,1761364758.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807503 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:18.806Z,1761364758.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255730
2025-10-25T03:59:18.876Z,1761364758.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871718,0.446130,-0.202671],[-0.456626,0.889641,-0.005690],[0.177766,0.097505,0.979230]]
2025-10-25T03:59:18.927Z,1761364758.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:18.929Z,1761364758.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 250.248627 m,
      bearing: 332.147621 deg,
      approach rate: -0.605370 m/s,
      LOS rate: -0.009465 deg/s,
      cmd heading: 332.745424 deg,
      new cmd heading: 332.735011 deg.

2025-10-25T03:59:18.931Z,1761364758.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807322 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:19.059Z,1761364759.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508170
2025-10-25T03:59:19.294Z,1761364759.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872460,0.444811,-0.202377],[-0.455348,0.890292,-0.006231],[0.177403,0.097588,0.979288]]
2025-10-25T03:59:19.311Z,1761364759.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760144
2025-10-25T03:59:19.344Z,1761364759.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:19.347Z,1761364759.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 250.041046 m,
      bearing: 332.144301 deg,
      approach rate: -0.497515 m/s,
      LOS rate: -0.007963 deg/s,
      cmd heading: 332.735015 deg,
      new cmd heading: 332.725048 deg.

2025-10-25T03:59:19.348Z,1761364759.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807148 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:19.565Z,1761364759.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013852
2025-10-25T03:59:19.687Z,1761364759.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873041,0.443739,-0.202223],[-0.454375,0.890783,-0.006987],[0.177037,0.097985,0.979315]]
2025-10-25T03:59:19.734Z,1761364759.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:19.737Z,1761364759.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 249.828552 m,
      bearing: 332.138340 deg,
      approach rate: -0.544082 m/s,
      LOS rate: -0.015276 deg/s,
      cmd heading: 332.725043 deg,
      new cmd heading: 332.707145 deg.

2025-10-25T03:59:19.738Z,1761364759.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806835 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:19.814Z,1761364759.814 [DAT](INFO): DAT read: Rx Time:03:59:18.8684

2025-10-25T03:59:19.815Z,1761364759.815 [DAT](INFO): Rx dataTimestamp_ set to:1761364759.814846
2025-10-25T03:59:19.816Z,1761364759.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265308
2025-10-25T03:59:20.066Z,1761364760.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515283
2025-10-25T03:59:20.090Z,1761364760.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873581,0.442654,-0.202270],[-0.453388,0.891281,-0.007625],[0.176904,0.098368,0.979300]]
2025-10-25T03:59:20.108Z,1761364760.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:20.110Z,1761364760.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:20.113Z,1761364760.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 249.633759 m,
      bearing: 332.132815 deg,
      approach rate: -0.518579 m/s,
      LOS rate: -0.014720 deg/s,
      cmd heading: 332.707148 deg,
      new cmd heading: 332.690560 deg.

2025-10-25T03:59:20.115Z,1761364760.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806546 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:20.320Z,1761364760.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769186
2025-10-25T03:59:20.493Z,1761364760.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873996,0.442065,-0.201765],[-0.452750,0.891604,-0.007705],[0.176489,0.098083,0.979404]]
2025-10-25T03:59:20.591Z,1761364760.591 [DAT](INFO): DAT read: 03:59:18.8684 LVL= 17104, 23697, 14674, 29939, AGC= 65, IDX= 403,-0.00, 1.626, 0.396, 1.702, 0.671, PHS= 1.043,-0.229, 1.027, RAW= 149.4, -27.2, CAL= 153.2, -33.3, ROT= 356.8,  33.3

2025-10-25T03:59:20.592Z,1761364760.592 [DAT](INFO): got valid direction response:
 03:59:18.8684 LVL= 17104, 23697, 14674, 29939, AGC= 65, IDX= 403,-0.00, 1.626, 0.396, 1.702, 0.671, PHS= 1.043,-0.229, 1.027, RAW= 149.4, -27.2, CAL= 153.2, -33.3, ROT= 356.8,  33.3

2025-10-25T03:59:20.602Z,1761364760.602 [DAT](INFO): DAT read: Bearing 356.8,  33.3 (Local)

2025-10-25T03:59:20.602Z,1761364760.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  33.3 (Local)

2025-10-25T03:59:20.604Z,1761364760.604 [DAT](INFO): DAT read: Range 10 to 50 : 257.1 m  (Round-trip  342.8 ms) speed  0.5 m/s

2025-10-25T03:59:20.608Z,1761364760.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.32 m.
2025-10-25T03:59:20.624Z,1761364760.624 [DAT](INFO): DAT read: user:242>

2025-10-25T03:59:20.627Z,1761364760.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.321594 m,
      nav range: 249.399063 m,
      bearing: 332.126106 deg,
      approach rate: -0.471266 m/s,
      LOS rate: -0.013485 deg/s,
      cmd heading: 332.690564 deg,
      new cmd heading: 332.670416 deg.

2025-10-25T03:59:20.628Z,1761364760.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806194 target range: 258.321594 and range: 259.50 m.
2025-10-25T03:59:20.633Z,1761364760.633 [DAT](INFO): DAT read: Tx time:03:59:19.9714

2025-10-25T03:59:20.633Z,1761364760.633 [DAT](INFO): Ping request sent.
2025-10-25T03:59:20.634Z,1761364760.634 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:20.634Z,1761364760.634 [DAT](INFO): DAT read: TxSync time:03:59:19.9707

2025-10-25T03:59:20.635Z,1761364760.635 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:20.636Z,1761364760.636 [DAT](INFO): direction in FSK: [0.834504,-0.046656,-0.549023]
2025-10-25T03:59:20.636Z,1761364760.636 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:20.636Z,1761364760.636 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:20.657Z,1761364760.657 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:20.658Z,1761364760.658 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:20.909Z,1761364760.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874419,0.441230,-0.201763],[-0.451969,0.891997,-0.008102],[0.176397,0.098275,0.979401]]
2025-10-25T03:59:21.003Z,1761364761.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.100006 m,
      deltaT: 4.034155 s,
      deltaX: -2.399994 m,
      approachRate: -0.594919 m/s,
      rangeRepo size: 4

2025-10-25T03:59:21.009Z,1761364761.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.915375 m,
      bearing: 333.189899 deg,
      lat: 36.779500 deg,
      lon: -121.859838 deg,
      deltaT: 4.034155 s,
      deltaX: -2.406219 m,
      approachRate: -0.596462 m/s,
      posRepo size: 4

2025-10-25T03:59:21.009Z,1761364761.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:21.012Z,1761364761.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 247.620636 m,
      bearing: 332.811855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013485 deg/s,
      cmd heading: 332.670429 deg,
      new cmd heading: 332.654491 deg.

2025-10-25T03:59:21.019Z,1761364761.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805916 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:21.324Z,1761364761.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873515,0.442870,-0.202082],[-0.453274,0.891352,-0.005877],[0.177523,0.096733,0.979351]]
2025-10-25T03:59:21.348Z,1761364761.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:21.350Z,1761364761.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 247.429718 m,
      bearing: 332.807622 deg,
      approach rate: -0.552223 m/s,
      LOS rate: -0.012253 deg/s,
      cmd heading: 332.654501 deg,
      new cmd heading: 332.641793 deg.

2025-10-25T03:59:21.351Z,1761364761.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805695 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:21.708Z,1761364761.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874315,0.441017,-0.202675],[-0.451565,0.892214,-0.006555],[0.177938,0.097253,0.979224]]
2025-10-25T03:59:21.754Z,1761364761.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:21.777Z,1761364761.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 247.215012 m,
      bearing: 332.803036 deg,
      approach rate: -0.527860 m/s,
      LOS rate: -0.011284 deg/s,
      cmd heading: 332.641797 deg,
      new cmd heading: 332.628027 deg.

2025-10-25T03:59:21.778Z,1761364761.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805454 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:22.109Z,1761364762.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875164,0.439436,-0.202444],[-0.449974,0.893016,-0.006804],[0.177796,0.097049,0.979270]]
2025-10-25T03:59:22.127Z,1761364762.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:22.130Z,1761364762.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:22.134Z,1761364762.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 247.015594 m,
      bearing: 332.798685 deg,
      approach rate: -0.531422 m/s,
      LOS rate: -0.011606 deg/s,
      cmd heading: 332.628027 deg,
      new cmd heading: 332.614962 deg.

2025-10-25T03:59:22.135Z,1761364762.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805226 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:22.334Z,1761364762.334 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:22.334Z,1761364762.334 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:22.334Z,1761364762.334 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:22.589Z,1761364762.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954697
2025-10-25T03:59:22.625Z,1761364762.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:22.628Z,1761364762.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 246.776978 m,
      bearing: 332.793469 deg,
      approach rate: -0.481597 m/s,
      LOS rate: -0.010537 deg/s,
      cmd heading: 332.614968 deg,
      new cmd heading: 332.599305 deg.

2025-10-25T03:59:22.635Z,1761364762.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804953 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:22.837Z,1761364762.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203842
2025-10-25T03:59:22.938Z,1761364762.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876480,0.438333,-0.199114],[-0.448189,0.893925,-0.004984],[0.175809,0.093609,0.979964]]
2025-10-25T03:59:22.991Z,1761364762.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:22.994Z,1761364762.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 246.550812 m,
      bearing: 332.791463 deg,
      approach rate: -0.618100 m/s,
      LOS rate: -0.005487 deg/s,
      cmd heading: 332.599313 deg,
      new cmd heading: 332.593289 deg.

2025-10-25T03:59:22.995Z,1761364762.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804848 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:23.090Z,1761364763.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456280
2025-10-25T03:59:23.342Z,1761364763.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707887
2025-10-25T03:59:23.387Z,1761364763.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:23.389Z,1761364763.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 246.334106 m,
      bearing: 332.789538 deg,
      approach rate: -0.547803 m/s,
      LOS rate: -0.004872 deg/s,
      cmd heading: 332.593302 deg,
      new cmd heading: 332.587520 deg.

2025-10-25T03:59:23.390Z,1761364763.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804747 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:23.598Z,1761364763.598 [DAT](INFO): DAT read: Rx Time:03:59:22.7165

2025-10-25T03:59:23.599Z,1761364763.599 [DAT](INFO): Rx dataTimestamp_ set to:1761364763.598625
2025-10-25T03:59:23.608Z,1761364763.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974110
2025-10-25T03:59:23.744Z,1761364763.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876653,0.438244,-0.198551],[-0.447997,0.894022,-0.004725],[0.175438,0.093093,0.980079]]
2025-10-25T03:59:23.802Z,1761364763.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:23.805Z,1761364763.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 246.098572 m,
      bearing: 332.790762 deg,
      approach rate: -0.566967 m/s,
      LOS rate: 0.002951 deg/s,
      cmd heading: 332.587510 deg,
      new cmd heading: 332.591188 deg.

2025-10-25T03:59:23.806Z,1761364763.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804811 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:23.847Z,1761364763.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213540
2025-10-25T03:59:24.098Z,1761364764.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464628
2025-10-25T03:59:24.229Z,1761364764.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876519,0.438412,-0.198771],[-0.448110,0.893968,-0.004280],[0.175819,0.092823,0.980036]]
2025-10-25T03:59:24.258Z,1761364764.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:24.260Z,1761364764.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.92 m.
2025-10-25T03:59:24.263Z,1761364764.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.915375 m,
      nav range: 245.836792 m,
      bearing: 332.792137 deg,
      approach rate: -0.571688 m/s,
      LOS rate: 0.003006 deg/s,
      cmd heading: 332.591199 deg,
      new cmd heading: 332.595328 deg.

2025-10-25T03:59:24.265Z,1761364764.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804883 target range: 255.915375 and range: 257.10 m.
2025-10-25T03:59:24.359Z,1761364764.359 [DAT](INFO): DAT read: 03:59:22.7165 LVL= 21312, 23153, 17138, 22451, AGC= 63, IDX= 414,-0.37,-3.081, 1.620,-3.128, 2.383, PHS= 0.907,-0.717, 0.769, RAW= 145.6, -12.3, CAL= 152.6, -20.8, ROT= 357.4,  20.8

2025-10-25T03:59:24.360Z,1761364764.360 [DAT](INFO): got valid direction response:
 03:59:22.7165 LVL= 21312, 23153, 17138, 22451, AGC= 63, IDX= 414,-0.37,-3.081, 1.620,-3.128, 2.383, PHS= 0.907,-0.717, 0.769, RAW= 145.6, -12.3, CAL= 152.6, -20.8, ROT= 357.4,  20.8

2025-10-25T03:59:24.361Z,1761364764.361 [DAT](INFO): DAT read: Bearing 357.4,  20.8 (Local)

2025-10-25T03:59:24.362Z,1761364764.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  20.8 (Local)

2025-10-25T03:59:24.363Z,1761364764.363 [DAT](INFO): DAT read: Range 10 to 50 : 255.6 m  (Round-trip  340.8 ms) speed  0.5 m/s

2025-10-25T03:59:24.364Z,1761364764.364 [DAT](INFO): DAT read: user:243>

2025-10-25T03:59:24.365Z,1761364764.365 [DAT](INFO): DAT read: Tx time:03:59:23.8215

2025-10-25T03:59:24.365Z,1761364764.365 [DAT](INFO): Ping request sent.
2025-10-25T03:59:24.365Z,1761364764.365 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:24.365Z,1761364764.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:24.366Z,1761364764.366 [DAT](INFO): direction in FSK: [0.933863,-0.042406,-0.355107]
2025-10-25T03:59:24.367Z,1761364764.367 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:24.367Z,1761364764.367 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:24.374Z,1761364764.374 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:24.375Z,1761364764.375 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:24.606Z,1761364764.606 [DAT](INFO): DAT read: TxSync time:03:59:23.8208

2025-10-25T03:59:24.756Z,1761364764.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.600006 m,
      deltaT: 3.779516 s,
      deltaX: -1.500000 m,
      approachRate: -0.396876 m/s,
      rangeRepo size: 4

2025-10-25T03:59:24.778Z,1761364764.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 254.410797 m,
      bearing: 332.412650 deg,
      lat: 36.779515 deg,
      lon: -121.859876 deg,
      deltaT: 3.779516 s,
      deltaX: -1.504578 m,
      approachRate: -0.398087 m/s,
      posRepo size: 4

2025-10-25T03:59:24.779Z,1761364764.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:24.786Z,1761364764.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 248.557846 m,
      bearing: 332.275053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003006 deg/s,
      cmd heading: 332.595324 deg,
      new cmd heading: 332.599793 deg.

2025-10-25T03:59:24.787Z,1761364764.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804962 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:25.235Z,1761364765.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:25.255Z,1761364765.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 248.280716 m,
      bearing: 332.278745 deg,
      approach rate: -0.577606 m/s,
      LOS rate: 0.007703 deg/s,
      cmd heading: 332.599805 deg,
      new cmd heading: 332.610893 deg.

2025-10-25T03:59:25.256Z,1761364765.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805155 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:25.626Z,1761364765.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874211,0.442414,-0.200062],[-0.452151,0.891935,-0.003352],[0.176959,0.093389,0.979778]]
2025-10-25T03:59:25.699Z,1761364765.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:25.702Z,1761364765.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 248.018585 m,
      bearing: 332.282530 deg,
      approach rate: -0.565416 m/s,
      LOS rate: 0.008172 deg/s,
      cmd heading: 332.610897 deg,
      new cmd heading: 332.622263 deg.

2025-10-25T03:59:25.703Z,1761364765.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805354 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:26.012Z,1761364766.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873918,0.443365,-0.199234],[-0.453309,0.891340,-0.004850],[0.175435,0.094553,0.979940]]
2025-10-25T03:59:26.058Z,1761364766.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:26.061Z,1761364766.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 247.809479 m,
      bearing: 332.287290 deg,
      approach rate: -0.581989 m/s,
      LOS rate: 0.013260 deg/s,
      cmd heading: 332.622262 deg,
      new cmd heading: 332.636555 deg.

2025-10-25T03:59:26.062Z,1761364766.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805603 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:26.416Z,1761364766.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874174,0.443267,-0.198326],[-0.453397,0.891286,-0.006402],[0.173928,0.095517,0.980115]]
2025-10-25T03:59:26.433Z,1761364766.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:26.435Z,1761364766.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:26.438Z,1761364766.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 247.594116 m,
      bearing: 332.292195 deg,
      approach rate: -0.571888 m/s,
      LOS rate: 0.013037 deg/s,
      cmd heading: 332.636551 deg,
      new cmd heading: 332.651279 deg.

2025-10-25T03:59:26.438Z,1761364766.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805860 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:26.620Z,1761364766.620 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:26.620Z,1761364766.620 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:26.622Z,1761364766.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:26.824Z,1761364766.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874403,0.443298,-0.197247],[-0.453289,0.891342,-0.006223],[0.173055,0.094851,0.980334]]
2025-10-25T03:59:26.878Z,1761364766.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513019
2025-10-25T03:59:26.890Z,1761364766.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:26.898Z,1761364766.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 247.354233 m,
      bearing: 332.297259 deg,
      approach rate: -0.526545 m/s,
      LOS rate: 0.011127 deg/s,
      cmd heading: 332.651277 deg,
      new cmd heading: 332.666485 deg.

2025-10-25T03:59:26.899Z,1761364766.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806126 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:27.129Z,1761364767.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764249
2025-10-25T03:59:27.225Z,1761364767.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874556,0.443388,-0.196363],[-0.453246,0.891366,-0.005949],[0.172394,0.094203,0.980513]]
2025-10-25T03:59:27.261Z,1761364767.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:27.263Z,1761364767.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 247.147049 m,
      bearing: 332.301637 deg,
      approach rate: -0.584850 m/s,
      LOS rate: 0.012368 deg/s,
      cmd heading: 332.666495 deg,
      new cmd heading: 332.679638 deg.

2025-10-25T03:59:27.269Z,1761364767.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806355 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:27.383Z,1761364767.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017861
2025-10-25T03:59:27.629Z,1761364767.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:59:27.634Z,1761364767.634 [DAT](INFO): DAT read: Rx Time:03:59:26.5636

2025-10-25T03:59:27.634Z,1761364767.634 [DAT](INFO): Rx dataTimestamp_ set to:1761364767.633967
2025-10-25T03:59:27.635Z,1761364767.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269599
2025-10-25T03:59:27.642Z,1761364767.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875102,0.442831,-0.195186],[-0.452726,0.891623,-0.006879],[0.170986,0.094385,0.980742]]
2025-10-25T03:59:27.755Z,1761364767.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:27.762Z,1761364767.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 246.869324 m,
      bearing: 332.307468 deg,
      approach rate: -0.543552 m/s,
      LOS rate: 0.011424 deg/s,
      cmd heading: 332.679636 deg,
      new cmd heading: 332.697147 deg.

2025-10-25T03:59:27.763Z,1761364767.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806661 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:27.886Z,1761364767.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520710
2025-10-25T03:59:28.062Z,1761364768.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875637,0.442146,-0.194340],[-0.452285,0.891830,-0.008842],[0.169409,0.095639,0.980894]]
2025-10-25T03:59:28.129Z,1761364768.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.41 m.
2025-10-25T03:59:28.133Z,1761364768.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 254.410797 m,
      nav range: 246.665344 m,
      bearing: 332.309472 deg,
      approach rate: -0.546866 m/s,
      LOS rate: 0.005377 deg/s,
      cmd heading: 332.697148 deg,
      new cmd heading: 332.703165 deg.

2025-10-25T03:59:28.134Z,1761364768.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806766 target range: 254.410797 and range: 255.60 m.
2025-10-25T03:59:28.152Z,1761364768.152 [DAT](INFO): DAT read: 03:59:26.5636 LVL= 20912, 28433, 17218, 25427, AGC= 61, IDX= 417,-0.12, 1.819, 0.252, 1.795, 1.028, PHS= 0.879,-0.729, 0.764, RAW= 146.3, -11.7, CAL= 153.4, -20.2, ROT= 356.6,  20.2

2025-10-25T03:59:28.153Z,1761364768.153 [DAT](INFO): got valid direction response:
 03:59:26.5636 LVL= 20912, 28433, 17218, 25427, AGC= 61, IDX= 417,-0.12, 1.819, 0.252, 1.795, 1.028, PHS= 0.879,-0.729, 0.764, RAW= 146.3, -11.7, CAL= 153.4, -20.2, ROT= 356.6,  20.2

2025-10-25T03:59:28.154Z,1761364768.154 [DAT](INFO): DAT read: Bearing 356.6,  20.2 (Local)

2025-10-25T03:59:28.154Z,1761364768.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  20.2 (Local)

2025-10-25T03:59:28.156Z,1761364768.156 [DAT](INFO): DAT read: Range 10 to 50 : 253.4 m  (Round-trip  337.9 ms) speed  0.4 m/s

2025-10-25T03:59:28.169Z,1761364768.169 [DAT](INFO): DAT read: user:244>

2025-10-25T03:59:28.172Z,1761364768.172 [DAT](INFO): DAT read: Tx time:03:59:27.6715

2025-10-25T03:59:28.181Z,1761364768.181 [DAT](INFO): Ping request sent.
2025-10-25T03:59:28.182Z,1761364768.182 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:28.182Z,1761364768.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:28.183Z,1761364768.183 [DAT](INFO): direction in FSK: [0.936841,-0.055659,-0.345298]
2025-10-25T03:59:28.183Z,1761364768.183 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:28.184Z,1761364768.184 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:28.195Z,1761364768.195 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:28.195Z,1761364768.195 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:28.390Z,1761364768.390 [DAT](INFO): DAT read: TxSync time:03:59:27.6708

2025-10-25T03:59:28.463Z,1761364768.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876203,0.441516,-0.193217],[-0.451732,0.892098,-0.010006],[0.167951,0.096050,0.981105]]
2025-10-25T03:59:28.522Z,1761364768.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.399994 m,
      deltaT: 3.786470 s,
      deltaX: -2.200012 m,
      approachRate: -0.581019 m/s,
      rangeRepo size: 4

2025-10-25T03:59:28.529Z,1761364768.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.219543 m,
      bearing: 331.457736 deg,
      lat: 36.779510 deg,
      lon: -121.859877 deg,
      deltaT: 3.786470 s,
      deltaX: -2.191254 m,
      approachRate: -0.578706 m/s,
      posRepo size: 4

2025-10-25T03:59:28.529Z,1761364768.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:28.532Z,1761364768.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.997787 m,
      bearing: 332.231380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005377 deg/s,
      cmd heading: 332.703159 deg,
      new cmd heading: 332.709504 deg.

2025-10-25T03:59:28.538Z,1761364768.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806876 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:28.633Z,1761364768.633 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:59:28.870Z,1761364768.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876321,0.441005,-0.193843],[-0.451565,0.892161,-0.011702],[0.167779,0.097788,0.980963]]
2025-10-25T03:59:28.911Z,1761364768.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:28.934Z,1761364768.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:28.941Z,1761364768.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.784805 m,
      bearing: 332.230901 deg,
      approach rate: -0.516523 m/s,
      LOS rate: -0.001162 deg/s,
      cmd heading: 332.709497 deg,
      new cmd heading: 332.708060 deg.

2025-10-25T03:59:28.942Z,1761364768.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806851 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:29.145Z,1761364769.145 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:29.145Z,1761364769.145 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:29.146Z,1761364769.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:29.273Z,1761364769.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876832,0.441371,-0.190676],[-0.450992,0.892492,-0.007993],[0.166649,0.093002,0.981620]]
2025-10-25T03:59:29.319Z,1761364769.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:29.327Z,1761364769.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.587234 m,
      bearing: 332.230423 deg,
      approach rate: -0.512726 m/s,
      LOS rate: -0.001241 deg/s,
      cmd heading: 332.708049 deg,
      new cmd heading: 332.706615 deg.

2025-10-25T03:59:29.328Z,1761364769.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806826 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:29.399Z,1761364769.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217948
2025-10-25T03:59:29.653Z,1761364769.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471056
2025-10-25T03:59:29.719Z,1761364769.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878298,0.438604,-0.190313],[-0.448562,0.893690,-0.010482],[0.165483,0.094573,0.981668]]
2025-10-25T03:59:29.782Z,1761364769.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:29.784Z,1761364769.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.356155 m,
      bearing: 332.225338 deg,
      approach rate: -0.501425 m/s,
      LOS rate: -0.011044 deg/s,
      cmd heading: 332.706601 deg,
      new cmd heading: 332.691333 deg.

2025-10-25T03:59:29.785Z,1761364769.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806559 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:29.902Z,1761364769.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720730
2025-10-25T03:59:30.084Z,1761364770.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880212,0.435438,-0.188734],[-0.445700,0.895080,-0.013560],[0.163028,0.096054,0.981935]]
2025-10-25T03:59:30.103Z,1761364770.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:30.106Z,1761364770.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.200302 m,
      bearing: 332.221776 deg,
      approach rate: -0.482448 m/s,
      LOS rate: -0.011033 deg/s,
      cmd heading: 332.691329 deg,
      new cmd heading: 332.680637 deg.

2025-10-25T03:59:30.107Z,1761364770.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806373 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:30.154Z,1761364770.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973167
2025-10-25T03:59:30.405Z,1761364770.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224287
2025-10-25T03:59:30.484Z,1761364770.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881806,0.432884,-0.187163],[-0.443331,0.896217,-0.015890],[0.160860,0.096987,0.982200]]
2025-10-25T03:59:30.502Z,1761364770.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:30.505Z,1761364770.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 245.006638 m,
      bearing: 332.217214 deg,
      approach rate: -0.486002 m/s,
      LOS rate: -0.011459 deg/s,
      cmd heading: 332.680647 deg,
      new cmd heading: 332.666948 deg.

2025-10-25T03:59:30.506Z,1761364770.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806134 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:30.658Z,1761364770.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476640
2025-10-25T03:59:30.891Z,1761364770.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882838,0.431910,-0.184528],[-0.442156,0.896789,-0.016365],[0.158415,0.096038,0.982691]]
2025-10-25T03:59:30.910Z,1761364770.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728389
2025-10-25T03:59:30.954Z,1761364770.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:30.956Z,1761364770.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:30.963Z,1761364770.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 244.799149 m,
      bearing: 332.209782 deg,
      approach rate: -0.457067 m/s,
      LOS rate: -0.016386 deg/s,
      cmd heading: 332.666959 deg,
      new cmd heading: 332.644643 deg.

2025-10-25T03:59:30.969Z,1761364770.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805744 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:31.161Z,1761364771.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980291
2025-10-25T03:59:31.303Z,1761364771.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883842,0.430665,-0.182624],[-0.440883,0.897394,-0.017490],[0.156353,0.095974,0.983027]]
2025-10-25T03:59:31.352Z,1761364771.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:31.359Z,1761364771.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 244.600784 m,
      bearing: 332.202590 deg,
      approach rate: -0.500749 m/s,
      LOS rate: -0.018170 deg/s,
      cmd heading: 332.644638 deg,
      new cmd heading: 332.623045 deg.

2025-10-25T03:59:31.360Z,1761364771.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805367 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:31.414Z,1761364771.414 [DAT](INFO): DAT read: Rx Time:03:59:30.4117

2025-10-25T03:59:31.415Z,1761364771.415 [DAT](INFO): Rx dataTimestamp_ set to:1761364771.414787
2025-10-25T03:59:31.416Z,1761364771.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234807
2025-10-25T03:59:31.667Z,1761364771.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485695
2025-10-25T03:59:31.758Z,1761364771.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884693,0.429609,-0.180981],[-0.439830,0.897888,-0.018640],[0.154493,0.096092,0.983310]]
2025-10-25T03:59:31.912Z,1761364771.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.22 m.
2025-10-25T03:59:31.923Z,1761364771.923 [DAT](INFO): DAT read: 03:59:30.4117 LVL= 20672, 32753, 16786, 24051, AGC= 62, IDX= 429,-0.09,-1.020,-2.510,-1.011,-1.753, PHS= 0.821,-0.709, 0.739, RAW= 147.3, -11.4, CAL= 154.4, -19.7, ROT= 355.6,  19.7

2025-10-25T03:59:31.925Z,1761364771.925 [DAT](INFO): got valid direction response:
 03:59:30.4117 LVL= 20672, 32753, 16786, 24051, AGC= 62, IDX= 429,-0.09,-1.020,-2.510,-1.011,-1.753, PHS= 0.821,-0.709, 0.739, RAW= 147.3, -11.4, CAL= 154.4, -19.7, ROT= 355.6,  19.7

2025-10-25T03:59:31.926Z,1761364771.926 [DAT](INFO): DAT read: Bearing 355.6,  19.7 (Local)

2025-10-25T03:59:31.926Z,1761364771.926 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.7 (Local)

2025-10-25T03:59:31.928Z,1761364771.928 [DAT](INFO): DAT read: Range 10 to 50 : 252.0 m  (Round-trip  336.0 ms) speed  0.4 m/s

2025-10-25T03:59:31.928Z,1761364771.928 [DAT](INFO): DAT read: user:245>

2025-10-25T03:59:31.930Z,1761364771.930 [DAT](INFO): DAT read: Tx time:03:59:31.5215

2025-10-25T03:59:31.931Z,1761364771.931 [DAT](INFO): Ping request sent.
2025-10-25T03:59:31.931Z,1761364771.931 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:31.932Z,1761364771.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:31.933Z,1761364771.933 [DAT](INFO): direction in FSK: [0.938696,-0.072229,-0.337095]
2025-10-25T03:59:31.933Z,1761364771.933 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:31.934Z,1761364771.934 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:31.943Z,1761364771.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.219543 m,
      nav range: 244.354584 m,
      bearing: 332.192246 deg,
      approach rate: -0.439627 m/s,
      LOS rate: -0.018488 deg/s,
      cmd heading: 332.623055 deg,
      new cmd heading: 332.591993 deg.

2025-10-25T03:59:31.944Z,1761364771.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804825 target range: 252.219543 and range: 253.40 m.
2025-10-25T03:59:31.953Z,1761364771.953 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:31.953Z,1761364771.953 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:32.170Z,1761364772.170 [DAT](INFO): DAT read: TxSync time:03:59:31.5208

2025-10-25T03:59:32.261Z,1761364772.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885600,0.429641,-0.176411],[-0.439480,0.898050,-0.019071],[0.150232,0.094419,0.984132]]
2025-10-25T03:59:32.326Z,1761364772.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.000000 m,
      deltaT: 3.779954 s,
      deltaX: -1.399994 m,
      approachRate: -0.370373 m/s,
      rangeRepo size: 4

2025-10-25T03:59:32.328Z,1761364772.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.825943 m,
      bearing: 331.285741 deg,
      lat: 36.779507 deg,
      lon: -121.859920 deg,
      deltaT: 3.779954 s,
      deltaX: -1.393600 m,
      approachRate: -0.368682 m/s,
      posRepo size: 4

2025-10-25T03:59:32.333Z,1761364772.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:32.336Z,1761364772.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 245.678024 m,
      bearing: 331.373594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018488 deg/s,
      cmd heading: 332.591991 deg,
      new cmd heading: 332.569077 deg.

2025-10-25T03:59:32.337Z,1761364772.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804425 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:32.650Z,1761364772.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884011,0.430834,-0.181400],[-0.442524,0.896328,-0.027717],[0.150653,0.104776,0.983019]]
2025-10-25T03:59:32.693Z,1761364772.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:32.696Z,1761364772.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 245.483932 m,
      bearing: 331.364917 deg,
      approach rate: -0.527194 m/s,
      LOS rate: -0.023587 deg/s,
      cmd heading: 332.569069 deg,
      new cmd heading: 332.543017 deg.

2025-10-25T03:59:32.715Z,1761364772.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803970 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:33.054Z,1761364773.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882772,0.434936,-0.177607],[-0.445467,0.895019,-0.022351],[0.149241,0.098849,0.983848]]
2025-10-25T03:59:33.094Z,1761364773.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:33.096Z,1761364773.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:33.117Z,1761364773.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 245.283401 m,
      bearing: 331.356831 deg,
      approach rate: -0.498262 m/s,
      LOS rate: -0.020107 deg/s,
      cmd heading: 332.543005 deg,
      new cmd heading: 332.518728 deg.

2025-10-25T03:59:33.118Z,1761364773.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803546 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:33.183Z,1761364773.183 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:33.183Z,1761364773.183 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:33.183Z,1761364773.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:33.434Z,1761364773.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503148
2025-10-25T03:59:33.457Z,1761364773.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881576,0.438617,-0.174467],[-0.448265,0.893715,-0.018230],[0.147928,0.094279,0.984494]]
2025-10-25T03:59:33.502Z,1761364773.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:33.509Z,1761364773.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 245.085159 m,
      bearing: 331.348983 deg,
      approach rate: -0.488041 m/s,
      LOS rate: -0.019337 deg/s,
      cmd heading: 332.518717 deg,
      new cmd heading: 332.495152 deg.

2025-10-25T03:59:33.510Z,1761364773.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803135 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:33.687Z,1761364773.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755709
2025-10-25T03:59:33.862Z,1761364773.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881180,0.441086,-0.170192],[-0.449949,0.892920,-0.015460],[0.145149,0.090201,0.985290]]
2025-10-25T03:59:33.906Z,1761364773.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:33.933Z,1761364773.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 244.870026 m,
      bearing: 331.343083 deg,
      approach rate: -0.531963 m/s,
      LOS rate: -0.014600 deg/s,
      cmd heading: 332.495139 deg,
      new cmd heading: 332.477425 deg.

2025-10-25T03:59:33.934Z,1761364773.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802826 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:33.938Z,1761364773.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006896
2025-10-25T03:59:34.190Z,1761364774.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259032
2025-10-25T03:59:34.264Z,1761364774.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880429,0.444046,-0.166338],[-0.452076,0.891900,-0.011879],[0.143082,0.085656,0.985997]]
2025-10-25T03:59:34.304Z,1761364774.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:34.312Z,1761364774.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 244.671417 m,
      bearing: 331.337747 deg,
      approach rate: -0.500444 m/s,
      LOS rate: -0.013457 deg/s,
      cmd heading: 332.477435 deg,
      new cmd heading: 332.461413 deg.

2025-10-25T03:59:34.317Z,1761364774.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802547 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:34.442Z,1761364774.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510948
2025-10-25T03:59:34.673Z,1761364774.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879655,0.446151,-0.164792],[-0.453995,0.890932,-0.011334],[0.141762,0.084784,0.986263]]
2025-10-25T03:59:34.692Z,1761364774.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:34.696Z,1761364774.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764767
2025-10-25T03:59:34.704Z,1761364774.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 244.457672 m,
      bearing: 331.332103 deg,
      approach rate: -0.550748 m/s,
      LOS rate: -0.014556 deg/s,
      cmd heading: 332.461425 deg,
      new cmd heading: 332.444477 deg.

2025-10-25T03:59:34.721Z,1761364774.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802251 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:34.945Z,1761364774.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014759
2025-10-25T03:59:35.073Z,1761364775.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879136,0.447570,-0.163713],[-0.455357,0.890235,-0.011475],[0.140607,0.084636,0.986441]]
2025-10-25T03:59:35.120Z,1761364775.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:35.122Z,1761364775.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:35.125Z,1761364775.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 244.218353 m,
      bearing: 331.330122 deg,
      approach rate: -0.555428 m/s,
      LOS rate: -0.004602 deg/s,
      cmd heading: 332.444486 deg,
      new cmd heading: 332.438537 deg.

2025-10-25T03:59:35.126Z,1761364775.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802147 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:35.199Z,1761364775.199 [DAT](INFO): DAT read: Rx Time:03:59:34.2372

2025-10-25T03:59:35.200Z,1761364775.200 [DAT](INFO): Rx dataTimestamp_ set to:1761364775.198925
2025-10-25T03:59:35.201Z,1761364775.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269394
2025-10-25T03:59:35.450Z,1761364775.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519108
2025-10-25T03:59:35.516Z,1761364775.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.83 m.
2025-10-25T03:59:35.519Z,1761364775.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.825943 m,
      nav range: 243.998550 m,
      bearing: 331.328299 deg,
      approach rate: -0.557902 m/s,
      LOS rate: -0.004631 deg/s,
      cmd heading: 332.438530 deg,
      new cmd heading: 332.433057 deg.

2025-10-25T03:59:35.520Z,1761364775.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802052 target range: 250.825943 and range: 252.00 m.
2025-10-25T03:59:35.728Z,1761364775.728 [DAT](INFO): DAT read: 03:59:34.2372 LVL= 19568, 25633, 17442, 30195, AGC= 67, IDX= 194,-0.43,-0.679,-2.131,-0.717,-1.479, PHS= 0.888,-0.605, 0.758, RAW= 145.5, -14.4, CAL= 152.1, -22.6, ROT= 357.9,  22.6

2025-10-25T03:59:35.749Z,1761364775.749 [DAT](INFO): got valid direction response:
 03:59:34.2372 LVL= 19568, 25633, 17442, 30195, AGC= 67, IDX= 194,-0.43,-0.679,-2.131,-0.717,-1.479, PHS= 0.888,-0.605, 0.758, RAW= 145.5, -14.4, CAL= 152.1, -22.6, ROT= 357.9,  22.6

2025-10-25T03:59:35.752Z,1761364775.752 [DAT](INFO): DAT read: Bearing 357.9,  22.6 (Local)

2025-10-25T03:59:35.761Z,1761364775.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  22.6 (Local)

2025-10-25T03:59:35.772Z,1761364775.772 [DAT](INFO): DAT read: Range 10 to 50 : 233.6 m  (Round-trip  311.5 ms) speed  0.4 m/s

2025-10-25T03:59:35.799Z,1761364775.799 [DAT](INFO): DAT read: user:246>

2025-10-25T03:59:35.810Z,1761364775.810 [DAT](INFO): DAT read: Tx time:03:59:35.3215

2025-10-25T03:59:35.812Z,1761364775.812 [DAT](INFO): Ping request sent.
2025-10-25T03:59:35.812Z,1761364775.812 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:35.818Z,1761364775.818 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:35.826Z,1761364775.826 [DAT](INFO): direction in FSK: [0.922590,-0.033830,-0.384295]
2025-10-25T03:59:35.827Z,1761364775.827 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:35.827Z,1761364775.827 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:35.834Z,1761364775.834 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:35.835Z,1761364775.835 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:35.954Z,1761364775.954 [DAT](INFO): DAT read: TxSync time:03:59:35.3208

2025-10-25T03:59:36.034Z,1761364776.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 233.600006 m,
      deltaT: 3.785381 s,
      deltaX: -18.399994 m,
      approachRate: -4.860804 m/s,
      rangeRepo size: 4

2025-10-25T03:59:36.036Z,1761364776.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.512100 m,
      bearing: 332.567064 deg,
      lat: 36.779507 deg,
      lon: -121.859877 deg,
      deltaT: 3.785381 s,
      deltaX: -18.313843 m,
      approachRate: -4.838045 m/s,
      posRepo size: 4

2025-10-25T03:59:36.041Z,1761364776.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:36.043Z,1761364776.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 241.925507 m,
      bearing: 332.114433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004631 deg/s,
      cmd heading: 332.433066 deg,
      new cmd heading: 332.425944 deg.

2025-10-25T03:59:36.044Z,1761364776.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801927 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:36.330Z,1761364776.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875997,0.453996,-0.162841],[-0.461729,0.886952,-0.011052],[0.139415,0.084870,0.986590]]
2025-10-25T03:59:36.362Z,1761364776.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:36.367Z,1761364776.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 241.718826 m,
      bearing: 332.116301 deg,
      approach rate: -0.621008 m/s,
      LOS rate: 0.005617 deg/s,
      cmd heading: 332.425935 deg,
      new cmd heading: 332.431543 deg.

2025-10-25T03:59:36.368Z,1761364776.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802025 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:36.732Z,1761364776.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874546,0.457591,-0.160563],[-0.464301,0.885664,-0.004860],[0.139981,0.078800,0.987014]]
2025-10-25T03:59:36.837Z,1761364776.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:36.840Z,1761364776.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 241.489594 m,
      bearing: 332.118559 deg,
      approach rate: -0.481992 m/s,
      LOS rate: 0.004753 deg/s,
      cmd heading: 332.431536 deg,
      new cmd heading: 332.438318 deg.

2025-10-25T03:59:36.849Z,1761364776.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802143 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:37.141Z,1761364777.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874625,0.456863,-0.162196],[-0.464084,0.885759,-0.007577],[0.140205,0.081899,0.986730]]
2025-10-25T03:59:37.178Z,1761364777.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:37.182Z,1761364777.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:37.185Z,1761364777.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 241.242447 m,
      bearing: 332.123420 deg,
      approach rate: -0.719351 m/s,
      LOS rate: 0.014162 deg/s,
      cmd heading: 332.438312 deg,
      new cmd heading: 332.452908 deg.

2025-10-25T03:59:37.186Z,1761364777.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802398 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:37.217Z,1761364777.217 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:37.218Z,1761364777.218 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:37.218Z,1761364777.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:37.470Z,1761364777.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.657972
2025-10-25T03:59:37.541Z,1761364777.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875134,0.455680,-0.162777],[-0.463314,0.886135,-0.010252],[0.139570,0.084389,0.986610]]
2025-10-25T03:59:37.562Z,1761364777.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:37.583Z,1761364777.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 241.019318 m,
      bearing: 332.127760 deg,
      approach rate: -0.585153 m/s,
      LOS rate: 0.011393 deg/s,
      cmd heading: 332.452901 deg,
      new cmd heading: 332.465934 deg.

2025-10-25T03:59:37.584Z,1761364777.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802625 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:37.722Z,1761364777.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.910395
2025-10-25T03:59:37.944Z,1761364777.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875301,0.455382,-0.162712],[-0.463254,0.886144,-0.012005],[0.138720,0.085885,0.986601]]
2025-10-25T03:59:37.974Z,1761364777.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.161914
2025-10-25T03:59:37.998Z,1761364777.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:38.001Z,1761364778.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 240.769318 m,
      bearing: 332.133651 deg,
      approach rate: -0.575393 m/s,
      LOS rate: 0.013572 deg/s,
      cmd heading: 332.465933 deg,
      new cmd heading: 332.483624 deg.

2025-10-25T03:59:38.002Z,1761364778.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802934 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:38.226Z,1761364778.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.414168
2025-10-25T03:59:38.350Z,1761364778.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875281,0.455326,-0.162977],[-0.463484,0.885996,-0.013879],[0.138077,0.087685,0.986532]]
2025-10-25T03:59:38.369Z,1761364778.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:38.372Z,1761364778.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 240.552429 m,
      bearing: 332.138779 deg,
      approach rate: -0.581784 m/s,
      LOS rate: 0.013766 deg/s,
      cmd heading: 332.483637 deg,
      new cmd heading: 332.499033 deg.

2025-10-25T03:59:38.373Z,1761364778.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803203 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:38.478Z,1761364778.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.665963
2025-10-25T03:59:38.730Z,1761364778.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.917847
2025-10-25T03:59:38.945Z,1761364778.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:38.949Z,1761364778.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 240.230576 m,
      bearing: 332.144488 deg,
      approach rate: -0.559277 m/s,
      LOS rate: 0.009935 deg/s,
      cmd heading: 332.499046 deg,
      new cmd heading: 332.516197 deg.

2025-10-25T03:59:38.950Z,1761364778.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803503 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:38.984Z,1761364778.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.171785
2025-10-25T03:59:39.234Z,1761364779.234 [DAT](INFO): DAT read: Rx Time:03:59:38.0790

2025-10-25T03:59:39.234Z,1761364779.234 [DAT](INFO): Rx dataTimestamp_ set to:1761364779.233836
2025-10-25T03:59:39.235Z,1761364779.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423004
2025-10-25T03:59:39.302Z,1761364779.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875077,0.455644,-0.163184],[-0.464309,0.885503,-0.017356],[0.136592,0.090956,0.986443]]
2025-10-25T03:59:39.336Z,1761364779.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:39.342Z,1761364779.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:39.357Z,1761364779.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 240.013992 m,
      bearing: 332.148378 deg,
      approach rate: -0.545296 m/s,
      LOS rate: 0.009803 deg/s,
      cmd heading: 332.516203 deg,
      new cmd heading: 332.527883 deg.

2025-10-25T03:59:39.360Z,1761364779.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803707 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:39.486Z,1761364779.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.673932
2025-10-25T03:59:39.746Z,1761364779.746 [DAT](INFO): DAT read: 03:59:38.0790 LVL= 18736, 20465, 14738, 25683, AGC= 63, IDX= 116, 0.28, 1.023,-0.480, 0.941, 0.220, PHS= 0.891,-0.652, 0.718, RAW= 144.1, -13.0, CAL= 150.9, -21.6, ROT= 359.1,  21.6

2025-10-25T03:59:39.747Z,1761364779.747 [DAT](INFO): got valid direction response:
 03:59:38.0790 LVL= 18736, 20465, 14738, 25683, AGC= 63, IDX= 116, 0.28, 1.023,-0.480, 0.941, 0.220, PHS= 0.891,-0.652, 0.718, RAW= 144.1, -13.0, CAL= 150.9, -21.6, ROT= 359.1,  21.6

2025-10-25T03:59:39.748Z,1761364779.748 [DAT](INFO): DAT read: Bearing 359.1,  21.6 (Local)

2025-10-25T03:59:39.769Z,1761364779.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  21.6 (Local)

2025-10-25T03:59:39.771Z,1761364779.771 [DAT](INFO): DAT read: Range 10 to 50 : 264.9 m  (Round-trip  353.2 ms) speed  0.4 m/s

2025-10-25T03:59:39.771Z,1761364779.771 [DAT](INFO): DAT read: user:247>

2025-10-25T03:59:39.772Z,1761364779.772 [DAT](INFO): DAT read: Tx time:03:59:39.1716

2025-10-25T03:59:39.777Z,1761364779.777 [DAT](INFO): Ping request sent.
2025-10-25T03:59:39.777Z,1761364779.777 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:39.777Z,1761364779.777 [DAT](INFO): DAT read: TxSync time:03:59:39.1708

2025-10-25T03:59:39.778Z,1761364779.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:39.779Z,1761364779.779 [DAT](INFO): direction in FSK: [0.929662,-0.014604,-0.368125]
2025-10-25T03:59:39.779Z,1761364779.779 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:39.779Z,1761364779.779 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:39.807Z,1761364779.807 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:39.808Z,1761364779.808 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:40.015Z,1761364780.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 264.899994 m,
 deltaT: 4.036231 s,
 deltaX: 31.299988 m,
 approachRate: 7.754756 m/s,
 rangeRepo size: 4
2025-10-25T03:59:40.016Z,1761364780.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:40.023Z,1761364780.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 239.663849 m,
      bearing: 332.151722 deg,
      approach rate: -0.525646 m/s,
      LOS rate: 0.005027 deg/s,
      cmd heading: 332.527896 deg,
      new cmd heading: 332.537941 deg.

2025-10-25T03:59:40.023Z,1761364780.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803882 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:40.369Z,1761364780.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:40.372Z,1761364780.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 239.464005 m,
      bearing: 332.153634 deg,
      approach rate: -0.554484 m/s,
      LOS rate: 0.005312 deg/s,
      cmd heading: 332.537950 deg,
      new cmd heading: 332.543694 deg.

2025-10-25T03:59:40.373Z,1761364780.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803982 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:40.723Z,1761364780.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875460,0.455400,-0.161804],[-0.463896,0.885725,-0.017074],[0.135539,0.090008,0.986675]]
2025-10-25T03:59:40.740Z,1761364780.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:40.743Z,1761364780.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 239.261032 m,
      bearing: 332.155554 deg,
      approach rate: -0.546072 m/s,
      LOS rate: 0.005169 deg/s,
      cmd heading: 332.543688 deg,
      new cmd heading: 332.549451 deg.

2025-10-25T03:59:40.744Z,1761364780.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804083 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:41.118Z,1761364781.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876394,0.453686,-0.161563],[-0.462510,0.886393,-0.019788],[0.134231,0.092067,0.986664]]
2025-10-25T03:59:41.170Z,1761364781.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:41.173Z,1761364781.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 239.044876 m,
      bearing: 332.154371 deg,
      approach rate: -0.502547 m/s,
      LOS rate: -0.002752 deg/s,
      cmd heading: 332.549452 deg,
      new cmd heading: 332.545901 deg.

2025-10-25T03:59:41.174Z,1761364781.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804021 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:41.558Z,1761364781.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876813,0.453359,-0.160204],[-0.462287,0.886468,-0.021545],[0.132248,0.092951,0.986849]]
2025-10-25T03:59:41.593Z,1761364781.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:41.595Z,1761364781.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:41.601Z,1761364781.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 238.833160 m,
      bearing: 332.153191 deg,
      approach rate: -0.498088 m/s,
      LOS rate: -0.002780 deg/s,
      cmd heading: 332.545901 deg,
      new cmd heading: 332.542356 deg.

2025-10-25T03:59:41.604Z,1761364781.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803959 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:41.753Z,1761364781.753 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:41.753Z,1761364781.753 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:41.754Z,1761364781.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:42.006Z,1761364782.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229466
2025-10-25T03:59:42.029Z,1761364782.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878779,0.450677,-0.156964],[-0.459708,0.887721,-0.024890],[0.128123,0.094030,0.987291]]
2025-10-25T03:59:42.119Z,1761364782.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:42.122Z,1761364782.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 238.566895 m,
      bearing: 332.147067 deg,
      approach rate: -0.508358 m/s,
      LOS rate: -0.011704 deg/s,
      cmd heading: 332.542349 deg,
      new cmd heading: 332.523957 deg.

2025-10-25T03:59:42.123Z,1761364782.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803638 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:42.258Z,1761364782.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481472
2025-10-25T03:59:42.479Z,1761364782.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879772,0.449591,-0.154496],[-0.458509,0.888311,-0.025935],[0.125581,0.093655,0.987653]]
2025-10-25T03:59:42.500Z,1761364782.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:42.503Z,1761364782.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 238.375336 m,
      bearing: 332.142583 deg,
      approach rate: -0.502890 m/s,
      LOS rate: -0.011782 deg/s,
      cmd heading: 332.523962 deg,
      new cmd heading: 332.510499 deg.

2025-10-25T03:59:42.504Z,1761364782.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803403 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:42.518Z,1761364782.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741127
2025-10-25T03:59:42.770Z,1761364782.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992772
2025-10-25T03:59:42.919Z,1761364782.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880746,0.448555,-0.151936],[-0.457351,0.888877,-0.026987],[0.122948,0.093257,0.988022]]
2025-10-25T03:59:42.982Z,1761364782.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:42.993Z,1761364782.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 238.148132 m,
      bearing: 332.134239 deg,
      approach rate: -0.473190 m/s,
      LOS rate: -0.017393 deg/s,
      cmd heading: 332.510493 deg,
      new cmd heading: 332.485439 deg.

2025-10-25T03:59:42.994Z,1761364782.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802966 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:43.022Z,1761364783.022 [DAT](INFO): DAT read: Rx Time:03:59:41.9046

2025-10-25T03:59:43.022Z,1761364783.022 [DAT](INFO): Rx dataTimestamp_ set to:1761364783.022009
2025-10-25T03:59:43.023Z,1761364783.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246065
2025-10-25T03:59:43.274Z,1761364783.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496806
2025-10-25T03:59:43.291Z,1761364783.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881550,0.447956,-0.149012],[-0.456538,0.889277,-0.027543],[0.120175,0.092310,0.988452]]
2025-10-25T03:59:43.368Z,1761364783.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.51 m.
2025-10-25T03:59:43.379Z,1761364783.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.512100 m,
      nav range: 237.987061 m,
      bearing: 332.128274 deg,
      approach rate: -0.416917 m/s,
      LOS rate: -0.015452 deg/s,
      cmd heading: 332.485440 deg,
      new cmd heading: 332.467531 deg.

2025-10-25T03:59:43.385Z,1761364783.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802653 target range: 232.512100 and range: 233.60 m.
2025-10-25T03:59:43.533Z,1761364783.533 [DAT](INFO): DAT read: 03:59:41.9046 LVL= 19312, 23537, 15762, 26611, AGC= 65, IDX= 196, 0.00,-0.892,-2.338,-0.996,-1.660, PHS= 0.856,-0.631, 0.661, RAW= 143.1, -12.6, CAL= 150.0, -21.5, ROT=   0.0,  21.5

2025-10-25T03:59:43.534Z,1761364783.534 [DAT](INFO): got valid direction response:
 03:59:41.9046 LVL= 19312, 23537, 15762, 26611, AGC= 65, IDX= 196, 0.00,-0.892,-2.338,-0.996,-1.660, PHS= 0.856,-0.631, 0.661, RAW= 143.1, -12.6, CAL= 150.0, -21.5, ROT=   0.0,  21.5

2025-10-25T03:59:43.535Z,1761364783.535 [DAT](INFO): DAT read: Bearing   0.0,  21.5 (Local)

2025-10-25T03:59:43.535Z,1761364783.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  21.5 (Local)

2025-10-25T03:59:43.537Z,1761364783.537 [DAT](INFO): DAT read: Range 10 to 50 : 246.6 m  (Round-trip  328.9 ms) speed  0.6 m/s

2025-10-25T03:59:43.538Z,1761364783.538 [DAT](INFO): DAT read: user:248>

2025-10-25T03:59:43.539Z,1761364783.539 [DAT](INFO): DAT read: Tx time:03:59:43.0216

2025-10-25T03:59:43.539Z,1761364783.539 [DAT](INFO): Ping request sent.
2025-10-25T03:59:43.539Z,1761364783.539 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:43.540Z,1761364783.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:43.541Z,1761364783.541 [DAT](INFO): direction in FSK: [0.930418,0.000000,-0.366501]
2025-10-25T03:59:43.541Z,1761364783.541 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:43.541Z,1761364783.541 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:43.545Z,1761364783.545 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:43.545Z,1761364783.545 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:43.778Z,1761364783.778 [DAT](INFO): DAT read: TxSync time:03:59:43.0208

2025-10-25T03:59:43.860Z,1761364783.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.600006 m,
      deltaT: 7.822574 s,
      deltaX: 13.000000 m,
      approachRate: 1.661857 m/s,
      rangeRepo size: 4

2025-10-25T03:59:43.891Z,1761364783.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.455353 m,
      bearing: 334.638463 deg,
      lat: 36.779510 deg,
      lon: -121.859917 deg,
      deltaT: 7.822574 s,
      deltaX: 12.943253 m,
      approachRate: 1.654603 m/s,
      posRepo size: 4

2025-10-25T03:59:43.902Z,1761364783.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:43.939Z,1761364783.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 239.697388 m,
      bearing: 331.394503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015452 deg/s,
      cmd heading: 332.467517 deg,
      new cmd heading: 332.446131 deg.

2025-10-25T03:59:43.951Z,1761364783.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802279 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:44.210Z,1761364784.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881672,0.448870,-0.145500],[-0.457212,0.888910,-0.028227],[0.116667,0.091411,0.988955]]
2025-10-25T03:59:44.273Z,1761364784.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:44.275Z,1761364784.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:44.283Z,1761364784.283 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:44.283Z,1761364784.283 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:44.283Z,1761364784.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:44.293Z,1761364784.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 239.470978 m,
      bearing: 331.384281 deg,
      approach rate: -0.506059 m/s,
      LOS rate: -0.022869 deg/s,
      cmd heading: 332.446125 deg,
      new cmd heading: 332.415431 deg.

2025-10-25T03:59:44.294Z,1761364784.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801744 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:44.534Z,1761364784.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994248
2025-10-25T03:59:44.607Z,1761364784.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881783,0.449472,-0.142949],[-0.457564,0.888734,-0.028060],[0.114432,0.090151,0.989332]]
2025-10-25T03:59:44.632Z,1761364784.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:44.635Z,1761364784.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 239.290100 m,
      bearing: 331.376115 deg,
      approach rate: -0.507526 m/s,
      LOS rate: -0.022930 deg/s,
      cmd heading: 332.415444 deg,
      new cmd heading: 332.390928 deg.

2025-10-25T03:59:44.636Z,1761364784.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801316 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:44.787Z,1761364784.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247543
2025-10-25T03:59:45.021Z,1761364785.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882831,0.448198,-0.140460],[-0.456130,0.889449,-0.028734],[0.112054,0.089435,0.989669]]
2025-10-25T03:59:45.038Z,1761364785.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498292
2025-10-25T03:59:45.089Z,1761364785.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:45.092Z,1761364785.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 239.074432 m,
      bearing: 331.367978 deg,
      approach rate: -0.476013 m/s,
      LOS rate: -0.017976 deg/s,
      cmd heading: 332.390937 deg,
      new cmd heading: 332.366504 deg.

2025-10-25T03:59:45.098Z,1761364785.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800890 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:45.291Z,1761364785.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751294
2025-10-25T03:59:45.413Z,1761364785.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883584,0.447743,-0.137131],[-0.455435,0.889787,-0.029306],[0.108896,0.088348,0.990119]]
2025-10-25T03:59:45.443Z,1761364785.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:45.446Z,1761364785.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 238.884171 m,
      bearing: 331.360745 deg,
      approach rate: -0.531128 m/s,
      LOS rate: -0.020207 deg/s,
      cmd heading: 332.366513 deg,
      new cmd heading: 332.344797 deg.

2025-10-25T03:59:45.448Z,1761364785.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800511 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:45.542Z,1761364785.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002764
2025-10-25T03:59:45.794Z,1761364785.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254259
2025-10-25T03:59:45.841Z,1761364785.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883832,0.448198,-0.134011],[-0.455674,0.889645,-0.029866],[0.105837,0.087462,0.990530]]
2025-10-25T03:59:45.871Z,1761364785.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:45.874Z,1761364785.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 238.671799 m,
      bearing: 331.352667 deg,
      approach rate: -0.495908 m/s,
      LOS rate: -0.018880 deg/s,
      cmd heading: 332.344793 deg,
      new cmd heading: 332.320537 deg.

2025-10-25T03:59:45.875Z,1761364785.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800087 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:46.045Z,1761364786.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506178
2025-10-25T03:59:46.299Z,1761364786.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759361
2025-10-25T03:59:46.316Z,1761364786.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:46.318Z,1761364786.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:46.321Z,1761364786.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 238.445038 m,
      bearing: 331.346528 deg,
      approach rate: -0.507496 m/s,
      LOS rate: -0.013753 deg/s,
      cmd heading: 332.320532 deg,
      new cmd heading: 332.302097 deg.

2025-10-25T03:59:46.322Z,1761364786.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799766 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:46.551Z,1761364786.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011200
2025-10-25T03:59:46.756Z,1761364786.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884096,0.450083,-0.125697],[-0.457028,0.888887,-0.031697],[0.097464,0.085470,0.991562]]
2025-10-25T03:59:46.774Z,1761364786.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:46.777Z,1761364786.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 238.206146 m,
      bearing: 331.340119 deg,
      approach rate: -0.523552 m/s,
      LOS rate: -0.014060 deg/s,
      cmd heading: 332.302090 deg,
      new cmd heading: 332.282844 deg.

2025-10-25T03:59:46.778Z,1761364786.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799430 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:46.804Z,1761364786.804 [DAT](INFO): DAT read: Rx Time:03:59:45.7519

2025-10-25T03:59:46.806Z,1761364786.806 [DAT](INFO): Rx dataTimestamp_ set to:1761364786.804575
2025-10-25T03:59:46.806Z,1761364786.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266788
2025-10-25T03:59:47.054Z,1761364787.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514678
2025-10-25T03:59:47.153Z,1761364787.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884117,0.451025,-0.122120],[-0.457687,0.888541,-0.031896],[0.094123,0.084093,0.992003]]
2025-10-25T03:59:47.283Z,1761364787.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.46 m.
2025-10-25T03:59:47.291Z,1761364787.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.455353 m,
      nav range: 237.944336 m,
      bearing: 331.337069 deg,
      approach rate: -0.515189 m/s,
      LOS rate: -0.006008 deg/s,
      cmd heading: 332.282856 deg,
      new cmd heading: 332.273698 deg.

2025-10-25T03:59:47.298Z,1761364787.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799270 target range: 245.455353 and range: 246.60 m.
2025-10-25T03:59:47.315Z,1761364787.315 [DAT](INFO): DAT read: 03:59:45.7519 LVL= 16736, 24865, 15730, 28115, AGC= 64, IDX= 408,-0.13, 1.738, 0.259, 1.608, 0.981, PHS= 0.844,-0.675, 0.624, RAW= 142.3, -11.2, CAL= 149.3, -20.5, ROT=   0.7,  20.5

2025-10-25T03:59:47.317Z,1761364787.317 [DAT](INFO): got valid direction response:
 03:59:45.7519 LVL= 16736, 24865, 15730, 28115, AGC= 64, IDX= 408,-0.13, 1.738, 0.259, 1.608, 0.981, PHS= 0.844,-0.675, 0.624, RAW= 142.3, -11.2, CAL= 149.3, -20.5, ROT=   0.7,  20.5

2025-10-25T03:59:47.317Z,1761364787.317 [DAT](INFO): DAT read: Bearing   0.7,  20.5 (Local)

2025-10-25T03:59:47.318Z,1761364787.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  20.5 (Local)

2025-10-25T03:59:47.319Z,1761364787.319 [DAT](INFO): DAT read: Range 10 to 50 : 244.5 m  (Round-trip  326.1 ms) speed  0.8 m/s

2025-10-25T03:59:47.320Z,1761364787.320 [DAT](INFO): DAT read: user:249>

2025-10-25T03:59:47.329Z,1761364787.329 [DAT](INFO): DAT read: Tx time:03:59:46.8716

2025-10-25T03:59:47.329Z,1761364787.329 [DAT](INFO): Ping request sent.
2025-10-25T03:59:47.329Z,1761364787.329 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:47.330Z,1761364787.330 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:47.332Z,1761364787.332 [DAT](INFO): direction in FSK: [0.936602,0.011443,-0.350207]
2025-10-25T03:59:47.332Z,1761364787.332 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:47.341Z,1761364787.341 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:47.344Z,1761364787.344 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:47.344Z,1761364787.344 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:47.559Z,1761364787.559 [DAT](INFO): DAT read: TxSync time:03:59:46.8708

2025-10-25T03:59:47.592Z,1761364787.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883627,0.452591,-0.119854],[-0.459337,0.887580,-0.034808],[0.090626,0.085811,0.992181]]
2025-10-25T03:59:47.655Z,1761364787.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.500000 m,
      deltaT: 3.780619 s,
      deltaX: -2.100006 m,
      approachRate: -0.555466 m/s,
      rangeRepo size: 4

2025-10-25T03:59:47.662Z,1761364787.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.377258 m,
      bearing: 335.002046 deg,
      lat: 36.779548 deg,
      lon: -121.859772 deg,
      deltaT: 3.780619 s,
      deltaX: -2.078094 m,
      approachRate: -0.549670 m/s,
      posRepo size: 4

2025-10-25T03:59:47.662Z,1761364787.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:47.670Z,1761364787.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 235.669144 m,
      bearing: 334.605099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006008 deg/s,
      cmd heading: 332.273704 deg,
      new cmd heading: 332.267010 deg.

2025-10-25T03:59:47.671Z,1761364787.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799153 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:48.015Z,1761364788.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882928,0.454396,-0.118159],[-0.460885,0.886827,-0.033497],[0.089566,0.084033,0.992430]]
2025-10-25T03:59:48.062Z,1761364788.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:48.066Z,1761364788.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 235.428101 m,
      bearing: 334.609227 deg,
      approach rate: -0.592795 m/s,
      LOS rate: 0.010163 deg/s,
      cmd heading: 332.267010 deg,
      new cmd heading: 332.279408 deg.

2025-10-25T03:59:48.067Z,1761364788.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799370 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:48.403Z,1761364788.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882885,0.454964,-0.116283],[-0.461609,0.886309,-0.037062],[0.086201,0.086399,0.992524]]
2025-10-25T03:59:48.421Z,1761364788.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:48.423Z,1761364788.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:48.447Z,1761364788.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 235.227844 m,
      bearing: 334.612689 deg,
      approach rate: -0.551924 m/s,
      LOS rate: 0.009548 deg/s,
      cmd heading: 332.279414 deg,
      new cmd heading: 332.289807 deg.

2025-10-25T03:59:48.453Z,1761364788.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799551 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:48.566Z,1761364788.566 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:48.567Z,1761364788.567 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:48.567Z,1761364788.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:48.796Z,1761364788.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882459,0.456329,-0.114144],[-0.463014,0.885462,-0.039676],[0.082965,0.087863,0.992672]]
2025-10-25T03:59:48.818Z,1761364788.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488174
2025-10-25T03:59:48.837Z,1761364788.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:48.840Z,1761364788.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 235.008224 m,
      bearing: 334.616564 deg,
      approach rate: -0.558614 m/s,
      LOS rate: 0.009867 deg/s,
      cmd heading: 332.289796 deg,
      new cmd heading: 332.301433 deg.

2025-10-25T03:59:48.841Z,1761364788.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799754 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:49.070Z,1761364789.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740045
2025-10-25T03:59:49.201Z,1761364789.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882536,0.457073,-0.110522],[-0.463594,0.885071,-0.041585],[0.078812,0.087938,0.993003]]
2025-10-25T03:59:49.262Z,1761364789.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:49.267Z,1761364789.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 234.747437 m,
      bearing: 334.624563 deg,
      approach rate: -0.585257 m/s,
      LOS rate: 0.017971 deg/s,
      cmd heading: 332.301435 deg,
      new cmd heading: 332.325458 deg.

2025-10-25T03:59:49.268Z,1761364789.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800173 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:49.322Z,1761364789.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992172
2025-10-25T03:59:49.574Z,1761364789.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244187
2025-10-25T03:59:49.606Z,1761364789.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882635,0.457457,-0.108118],[-0.464015,0.884692,-0.044833],[0.075142,0.089739,0.993127]]
2025-10-25T03:59:49.625Z,1761364789.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:49.628Z,1761364789.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 234.535034 m,
      bearing: 334.631103 deg,
      approach rate: -0.584762 m/s,
      LOS rate: 0.018023 deg/s,
      cmd heading: 332.325450 deg,
      new cmd heading: 332.345089 deg.

2025-10-25T03:59:49.629Z,1761364789.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800516 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:49.825Z,1761364789.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495890
2025-10-25T03:59:50.054Z,1761364790.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882290,0.458751,-0.105414],[-0.465193,0.883985,-0.046538],[0.071835,0.090098,0.993339]]
2025-10-25T03:59:50.078Z,1761364790.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748347
2025-10-25T03:59:50.103Z,1761364790.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:50.106Z,1761364790.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 234.255615 m,
      bearing: 334.641710 deg,
      approach rate: -0.585424 m/s,
      LOS rate: 0.022250 deg/s,
      cmd heading: 332.345093 deg,
      new cmd heading: 332.376952 deg.

2025-10-25T03:59:50.107Z,1761364790.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801072 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:50.331Z,1761364790.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000877
2025-10-25T03:59:50.417Z,1761364790.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881715,0.460398,-0.103013],[-0.466722,0.883105,-0.047922],[0.068908,0.090332,0.993525]]
2025-10-25T03:59:50.434Z,1761364790.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:50.436Z,1761364790.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:50.439Z,1761364790.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 234.060638 m,
      bearing: 334.649206 deg,
      approach rate: -0.585024 m/s,
      LOS rate: 0.022509 deg/s,
      cmd heading: 332.376949 deg,
      new cmd heading: 332.399454 deg.

2025-10-25T03:59:50.440Z,1761364790.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801465 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:50.582Z,1761364790.582 [DAT](INFO): DAT read: Rx Time:03:59:49.6228

2025-10-25T03:59:50.582Z,1761364790.582 [DAT](INFO): Rx dataTimestamp_ set to:1761364790.582054
2025-10-25T03:59:50.583Z,1761364790.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253377
2025-10-25T03:59:50.819Z,1761364790.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881571,0.461094,-0.101114],[-0.467391,0.882632,-0.050065],[0.066162,0.091396,0.993614]]
2025-10-25T03:59:50.834Z,1761364790.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504070
2025-10-25T03:59:50.838Z,1761364790.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.38 m.
2025-10-25T03:59:50.841Z,1761364790.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.377258 m,
      nav range: 233.825119 m,
      bearing: 334.658312 deg,
      approach rate: -0.585438 m/s,
      LOS rate: 0.022658 deg/s,
      cmd heading: 332.399461 deg,
      new cmd heading: 332.426808 deg.

2025-10-25T03:59:50.842Z,1761364790.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801942 target range: 243.377258 and range: 244.50 m.
2025-10-25T03:59:51.106Z,1761364791.106 [DAT](INFO): DAT read: 03:59:49.6228 LVL= 23472, 23953, 18578, 25363, AGC= 65, IDX= 140, 0.21,-1.978,-3.113,-1.928,-2.828, PHS= 0.937,-0.238, 0.897, RAW= 148.3, -26.0, CAL= 152.4, -32.2, ROT= 357.6,  32.2

2025-10-25T03:59:51.108Z,1761364791.108 [DAT](INFO): got valid direction response:
 03:59:49.6228 LVL= 23472, 23953, 18578, 25363, AGC= 65, IDX= 140, 0.21,-1.978,-3.113,-1.928,-2.828, PHS= 0.937,-0.238, 0.897, RAW= 148.3, -26.0, CAL= 152.4, -32.2, ROT= 357.6,  32.2

2025-10-25T03:59:51.109Z,1761364791.109 [DAT](INFO): DAT read: Bearing 357.6,  32.2 (Local)

2025-10-25T03:59:51.109Z,1761364791.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  32.2 (Local)

2025-10-25T03:59:51.110Z,1761364791.110 [DAT](INFO): DAT read: Range 10 to 50 : 260.1 m  (Round-trip  346.9 ms) speed  0.4 m/s

2025-10-25T03:59:51.111Z,1761364791.111 [DAT](INFO): DAT read: user:250>

2025-10-25T03:59:51.112Z,1761364791.112 [DAT](INFO): DAT read: Tx time:03:59:50.7217

2025-10-25T03:59:51.112Z,1761364791.112 [DAT](INFO): Ping request sent.
2025-10-25T03:59:51.112Z,1761364791.112 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:51.121Z,1761364791.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:51.122Z,1761364791.122 [DAT](INFO): direction in FSK: [0.845451,-0.035435,-0.532876]
2025-10-25T03:59:51.122Z,1761364791.122 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:51.122Z,1761364791.122 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:51.148Z,1761364791.148 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:51.148Z,1761364791.148 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:51.338Z,1761364791.338 [DAT](INFO): DAT read: TxSync time:03:59:50.7209

2025-10-25T03:59:51.354Z,1761364791.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.100006 m,
      deltaT: 3.781093 s,
      deltaX: 15.600006 m,
      approachRate: 4.125793 m/s,
      rangeRepo size: 4

2025-10-25T03:59:51.356Z,1761364791.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.913269 m,
      bearing: 332.949931 deg,
      lat: 36.779548 deg,
      lon: -121.859772 deg,
      deltaT: 3.781093 s,
      deltaX: 15.536011 m,
      approachRate: 4.108868 m/s,
      posRepo size: 4

2025-10-25T03:59:51.356Z,1761364791.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:51.363Z,1761364791.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 233.544647 m,
      bearing: 334.668770 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022658 deg/s,
      cmd heading: 332.426810 deg,
      new cmd heading: 332.461480 deg.

2025-10-25T03:59:51.369Z,1761364791.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802547 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:51.636Z,1761364791.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880808,0.462907,-0.099468],[-0.469445,0.881171,-0.056214],[0.061627,0.096208,0.993452]]
2025-10-25T03:59:51.670Z,1761364791.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:51.674Z,1761364791.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 233.338257 m,
      bearing: 334.676585 deg,
      approach rate: -0.640749 m/s,
      LOS rate: 0.024284 deg/s,
      cmd heading: 332.461480 deg,
      new cmd heading: 332.484946 deg.

2025-10-25T03:59:51.674Z,1761364791.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802957 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:52.101Z,1761364792.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879846,0.465649,-0.095093],[-0.471274,0.880682,-0.047950],[0.061419,0.087003,0.994313]]
2025-10-25T03:59:52.138Z,1761364792.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:52.141Z,1761364792.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 233.069443 m,
      bearing: 334.685554 deg,
      approach rate: -0.574692 m/s,
      LOS rate: 0.019196 deg/s,
      cmd heading: 332.484948 deg,
      new cmd heading: 332.511886 deg.

2025-10-25T03:59:52.142Z,1761364792.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803427 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:52.487Z,1761364792.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:52.489Z,1761364792.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:52.492Z,1761364792.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 232.867523 m,
      bearing: 334.692305 deg,
      approach rate: -0.575228 m/s,
      LOS rate: 0.019249 deg/s,
      cmd heading: 332.511886 deg,
      new cmd heading: 332.532157 deg.

2025-10-25T03:59:52.493Z,1761364792.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803781 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:52.602Z,1761364792.602 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:52.602Z,1761364792.602 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:52.602Z,1761364792.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:52.845Z,1761364792.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881496,0.462419,-0.095565],[-0.468632,0.881549,-0.057056],[0.057862,0.095080,0.993787]]
2025-10-25T03:59:52.854Z,1761364792.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741307
2025-10-25T03:59:52.869Z,1761364792.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:52.871Z,1761364792.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 232.649490 m,
      bearing: 334.699430 deg,
      approach rate: -0.574869 m/s,
      LOS rate: 0.018803 deg/s,
      cmd heading: 332.532158 deg,
      new cmd heading: 332.553553 deg.

2025-10-25T03:59:52.873Z,1761364792.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804154 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:53.106Z,1761364793.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993830
2025-10-25T03:59:53.341Z,1761364793.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:53.344Z,1761364793.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 232.398270 m,
      bearing: 334.705027 deg,
      approach rate: -0.532084 m/s,
      LOS rate: 0.011868 deg/s,
      cmd heading: 332.553551 deg,
      new cmd heading: 332.570361 deg.

2025-10-25T03:59:53.345Z,1761364793.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804448 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:53.358Z,1761364793.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245360
2025-10-25T03:59:53.610Z,1761364793.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497558
2025-10-25T03:59:53.654Z,1761364793.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883456,0.459101,-0.093446],[-0.465450,0.882819,-0.063146],[0.053505,0.099281,0.993620]]
2025-10-25T03:59:53.694Z,1761364793.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:53.698Z,1761364793.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 232.193665 m,
      bearing: 334.709405 deg,
      approach rate: -0.578253 m/s,
      LOS rate: 0.012383 deg/s,
      cmd heading: 332.570353 deg,
      new cmd heading: 332.583498 deg.

2025-10-25T03:59:53.699Z,1761364793.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804677 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:53.862Z,1761364793.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749227
2025-10-25T03:59:54.109Z,1761364794.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884351,0.457598,-0.092349],[-0.463982,0.883391,-0.065889],[0.051430,0.101118,0.993544]]
2025-10-25T03:59:54.121Z,1761364794.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008382
2025-10-25T03:59:54.158Z,1761364794.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:54.160Z,1761364794.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 231.932053 m,
      bearing: 334.710859 deg,
      approach rate: -0.565841 m/s,
      LOS rate: 0.003149 deg/s,
      cmd heading: 332.583494 deg,
      new cmd heading: 332.587862 deg.

2025-10-25T03:59:54.161Z,1761364794.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804753 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:54.373Z,1761364794.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261148
2025-10-25T03:59:54.462Z,1761364794.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884966,0.456689,-0.090948],[-0.463043,0.883715,-0.068113],[0.049266,0.102391,0.993524]]
2025-10-25T03:59:54.488Z,1761364794.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:54.494Z,1761364794.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:54.501Z,1761364794.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 231.754517 m,
      bearing: 334.711799 deg,
      approach rate: -0.526430 m/s,
      LOS rate: 0.002791 deg/s,
      cmd heading: 332.587865 deg,
      new cmd heading: 332.590689 deg.

2025-10-25T03:59:54.502Z,1761364794.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804802 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:54.626Z,1761364794.626 [DAT](INFO): DAT read: Rx Time:03:59:53.4701

2025-10-25T03:59:54.626Z,1761364794.626 [DAT](INFO): Rx dataTimestamp_ set to:1761364794.625755
2025-10-25T03:59:54.627Z,1761364794.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514300
2025-10-25T03:59:54.866Z,1761364794.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885452,0.456055,-0.089382],[-0.462338,0.883940,-0.069951],[0.047107,0.103263,0.993538]]
2025-10-25T03:59:54.878Z,1761364794.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765354
2025-10-25T03:59:54.947Z,1761364794.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.91 m.
2025-10-25T03:59:54.963Z,1761364794.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.913269 m,
      nav range: 231.530304 m,
      bearing: 334.712942 deg,
      approach rate: -0.498203 m/s,
      LOS rate: 0.002542 deg/s,
      cmd heading: 332.590679 deg,
      new cmd heading: 332.594112 deg.

2025-10-25T03:59:54.964Z,1761364794.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804862 target range: 258.913269 and range: 260.10 m.
2025-10-25T03:59:55.143Z,1761364795.143 [DAT](INFO): DAT read: 03:59:53.4701 LVL= 31952, 32753, 29410, 32755, AGC= 63, IDX= 423,-0.17, 1.529, 0.417, 1.515, 0.672, PHS= 0.945,-0.208, 0.840, RAW= 145.3, -26.8, CAL= 149.6, -32.8, ROT=   0.4,  32.8

2025-10-25T03:59:55.146Z,1761364795.146 [DAT](INFO): got valid direction response:
 03:59:53.4701 LVL= 31952, 32753, 29410, 32755, AGC= 63, IDX= 423,-0.17, 1.529, 0.417, 1.515, 0.672, PHS= 0.945,-0.208, 0.840, RAW= 145.3, -26.8, CAL= 149.6, -32.8, ROT=   0.4,  32.8

2025-10-25T03:59:55.147Z,1761364795.147 [DAT](INFO): DAT read: Bearing   0.4,  32.8 (Local)

2025-10-25T03:59:55.148Z,1761364795.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  32.8 (Local)

2025-10-25T03:59:55.151Z,1761364795.151 [DAT](INFO): DAT read: Range 10 to 50 : 258.1 m  (Round-trip  344.2 ms) speed  0.4 m/s

2025-10-25T03:59:55.169Z,1761364795.169 [DAT](INFO): DAT read: user:251>

2025-10-25T03:59:55.170Z,1761364795.170 [DAT](INFO): DAT read: Tx time:03:59:54.5717

2025-10-25T03:59:55.170Z,1761364795.170 [DAT](INFO): Ping request sent.
2025-10-25T03:59:55.170Z,1761364795.170 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:55.171Z,1761364795.171 [DAT](INFO): DAT read: TxSync time:03:59:54.5709

2025-10-25T03:59:55.171Z,1761364795.171 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T03:59:55.177Z,1761364795.177 [DAT](INFO): direction in FSK: [0.840546,0.005868,-0.541708]
2025-10-25T03:59:55.178Z,1761364795.178 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:55.179Z,1761364795.179 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:55.188Z,1761364795.188 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:55.188Z,1761364795.188 [DAT](INFO): publishing direction and range info
2025-10-25T03:59:55.427Z,1761364795.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.100006 m,
      deltaT: 4.042229 s,
      deltaX: -2.000000 m,
      approachRate: -0.494777 m/s,
      rangeRepo size: 4

2025-10-25T03:59:55.433Z,1761364795.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 256.926178 m,
      bearing: 336.517896 deg,
      lat: 36.779548 deg,
      lon: -121.859772 deg,
      deltaT: 4.042229 s,
      deltaX: -1.987091 m,
      approachRate: -0.491583 m/s,
      posRepo size: 4

2025-10-25T03:59:55.434Z,1761364795.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:55.441Z,1761364795.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 231.270432 m,
      bearing: 334.712064 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002542 deg/s,
      cmd heading: 332.594122 deg,
      new cmd heading: 332.597798 deg.

2025-10-25T03:59:55.445Z,1761364795.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804927 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:55.719Z,1761364795.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886231,0.454869,-0.087687],[-0.461130,0.884301,-0.073291],[0.044204,0.105388,0.993448]]
2025-10-25T03:59:55.739Z,1761364795.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:55.742Z,1761364795.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 231.083496 m,
      bearing: 334.711366 deg,
      approach rate: -0.597175 m/s,
      LOS rate: -0.002231 deg/s,
      cmd heading: 332.597810 deg,
      new cmd heading: 332.595715 deg.

2025-10-25T03:59:55.743Z,1761364795.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804890 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:56.136Z,1761364796.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886225,0.455429,-0.084789],[-0.461249,0.884494,-0.070134],[0.043055,0.101263,0.993928]]
2025-10-25T03:59:56.183Z,1761364796.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:56.186Z,1761364796.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 230.856979 m,
      bearing: 334.708173 deg,
      approach rate: -0.510285 m/s,
      LOS rate: -0.007199 deg/s,
      cmd heading: 332.595706 deg,
      new cmd heading: 332.586119 deg.

2025-10-25T03:59:56.187Z,1761364796.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804723 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:56.524Z,1761364796.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887685,0.452959,-0.082724],[-0.458621,0.885772,-0.071236],[0.041008,0.101175,0.994023]]
2025-10-25T03:59:56.552Z,1761364796.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:56.554Z,1761364796.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:56.558Z,1761364796.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 230.669327 m,
      bearing: 334.705384 deg,
      approach rate: -0.505953 m/s,
      LOS rate: -0.007528 deg/s,
      cmd heading: 332.586117 deg,
      new cmd heading: 332.577741 deg.

2025-10-25T03:59:56.559Z,1761364796.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804576 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:56.646Z,1761364796.646 [DAT](INFO): ****** received valid address query ******
2025-10-25T03:59:56.647Z,1761364796.647 [DAT](INFO): ****** received valid ping request ******
2025-10-25T03:59:56.647Z,1761364796.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T03:59:56.899Z,1761364796.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728520
2025-10-25T03:59:56.926Z,1761364796.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889370,0.450115,-0.080113],[-0.455553,0.887287,-0.072071],[0.038643,0.100593,0.994177]]
2025-10-25T03:59:56.961Z,1761364796.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:56.964Z,1761364796.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 230.458984 m,
      bearing: 334.702067 deg,
      approach rate: -0.517451 m/s,
      LOS rate: -0.008165 deg/s,
      cmd heading: 332.577729 deg,
      new cmd heading: 332.567772 deg.

2025-10-25T03:59:56.965Z,1761364796.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804403 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:57.151Z,1761364797.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980769
2025-10-25T03:59:57.329Z,1761364797.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890608,0.448099,-0.077613],[-0.453357,0.888262,-0.073876],[0.035837,0.100981,0.994243]]
2025-10-25T03:59:57.352Z,1761364797.352 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102420012057,35.0, +0.0,1497.0, ,  0.00,  65.36,  69.11,  69.79
2025-10-25T03:59:57.369Z,1761364797.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:57.372Z,1761364797.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 230.251251 m,
      bearing: 334.698656 deg,
      approach rate: -0.508952 m/s,
      LOS rate: -0.008364 deg/s,
      cmd heading: 332.567785 deg,
      new cmd heading: 332.557543 deg.

2025-10-25T03:59:57.373Z,1761364797.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804224 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:57.402Z,1761364797.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231921
2025-10-25T03:59:57.654Z,1761364797.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483274
2025-10-25T03:59:57.789Z,1761364797.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:57.792Z,1761364797.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 230.047928 m,
      bearing: 334.695312 deg,
      approach rate: -0.483395 m/s,
      LOS rate: -0.007958 deg/s,
      cmd heading: 332.557539 deg,
      new cmd heading: 332.547497 deg.

2025-10-25T03:59:57.793Z,1761364797.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804049 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:57.906Z,1761364797.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735561
2025-10-25T03:59:58.158Z,1761364798.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987582
2025-10-25T03:59:58.172Z,1761364798.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892975,0.444237,-0.072456],[-0.449104,0.890106,-0.077573],[0.030032,0.101811,0.994350]]
2025-10-25T03:59:58.224Z,1761364798.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:58.229Z,1761364798.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 229.815903 m,
      bearing: 334.691933 deg,
      approach rate: -0.533786 m/s,
      LOS rate: -0.007781 deg/s,
      cmd heading: 332.547485 deg,
      new cmd heading: 332.537339 deg.

2025-10-25T03:59:58.231Z,1761364798.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803872 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:58.410Z,1761364798.410 [DAT](INFO): DAT read: Rx Time:03:59:57.3182

2025-10-25T03:59:58.410Z,1761364798.410 [DAT](INFO): Rx dataTimestamp_ set to:1761364798.409739
2025-10-25T03:59:58.411Z,1761364798.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240269
2025-10-25T03:59:58.604Z,1761364798.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T03:59:58.606Z,1761364798.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:58.609Z,1761364798.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 229.622025 m,
      bearing: 334.689105 deg,
      approach rate: -0.507054 m/s,
      LOS rate: -0.007403 deg/s,
      cmd heading: 332.537349 deg,
      new cmd heading: 332.528857 deg.

2025-10-25T03:59:58.610Z,1761364798.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803723 target range: 256.926178 and range: 258.10 m.
2025-10-25T03:59:58.662Z,1761364798.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492111
2025-10-25T03:59:58.773Z,1761364798.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T03:59:58.916Z,1761364798.916 [DAT](INFO): DAT read: Range 10 to 50 : 256.7 m  (Round-trip  342.3 ms) speed  0.4 m/s

2025-10-25T03:59:58.917Z,1761364798.917 [DAT](INFO): DAT read: user:252>

2025-10-25T03:59:58.917Z,1761364798.917 [DAT](INFO): DAT read: Tx time:03:59:58.4217

2025-10-25T03:59:58.918Z,1761364798.918 [DAT](INFO): Ping request sent.
2025-10-25T03:59:58.918Z,1761364798.918 [DAT](INFO): transmitted an acoustic signal
2025-10-25T03:59:58.918Z,1761364798.918 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T03:59:58.918Z,1761364798.918 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:58.919Z,1761364798.919 [DAT](INFO): publishing transmit ping time
2025-10-25T03:59:58.948Z,1761364798.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894710,0.441391,-0.068327],[-0.445941,0.891382,-0.081088],[0.025114,0.103020,0.994362]]
2025-10-25T03:59:59.041Z,1761364799.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.700012 m,
      deltaT: 3.784020 s,
      deltaX: -1.399994 m,
      approachRate: -0.369975 m/s,
      rangeRepo size: 4

2025-10-25T03:59:59.042Z,1761364799.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:59.049Z,1761364799.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 229.413605 m,
      bearing: 334.685870 deg,
      approach rate: -0.490645 m/s,
      LOS rate: -0.007622 deg/s,
      cmd heading: 332.528853 deg,
      new cmd heading: 332.519139 deg.

2025-10-25T03:59:59.050Z,1761364799.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803554 target range: 256.926178 and range: 256.70 m.
2025-10-25T03:59:59.167Z,1761364799.167 [DAT](INFO): DAT read: TxSync time:03:59:58.4210

2025-10-25T03:59:59.350Z,1761364799.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895393,0.440223,-0.066894],[-0.444672,0.891853,-0.082860],[0.023183,0.103938,0.994314]]
2025-10-25T03:59:59.408Z,1761364799.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:59.412Z,1761364799.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 229.212418 m,
      bearing: 334.686122 deg,
      approach rate: -0.533510 m/s,
      LOS rate: 0.000667 deg/s,
      cmd heading: 332.519126 deg,
      new cmd heading: 332.519881 deg.

2025-10-25T03:59:59.433Z,1761364799.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803567 target range: 256.926178 and range: 256.70 m.
2025-10-25T03:59:59.758Z,1761364799.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893706,0.445083,-0.056486],[-0.447997,0.892102,-0.058753],[0.024241,0.077813,0.996673]]
2025-10-25T03:59:59.785Z,1761364799.785 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T03:59:59.790Z,1761364799.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T03:59:59.797Z,1761364799.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 229.023483 m,
      bearing: 334.686562 deg,
      approach rate: -0.494946 m/s,
      LOS rate: 0.001155 deg/s,
      cmd heading: 332.519891 deg,
      new cmd heading: 332.521214 deg.

2025-10-25T03:59:59.799Z,1761364799.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803590 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:00.229Z,1761364800.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:00.233Z,1761364800.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 228.792923 m,
      bearing: 334.687101 deg,
      approach rate: -0.525579 m/s,
      LOS rate: 0.001229 deg/s,
      cmd heading: 332.521203 deg,
      new cmd heading: 332.522820 deg.

2025-10-25T04:00:00.234Z,1761364800.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803618 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:00.561Z,1761364800.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890849,0.450682,-0.057218],[-0.453626,0.889302,-0.058011],[0.024739,0.077635,0.996675]]
2025-10-25T04:00:00.594Z,1761364800.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:00.598Z,1761364800.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 228.606354 m,
      bearing: 334.687833 deg,
      approach rate: -0.510755 m/s,
      LOS rate: 0.002006 deg/s,
      cmd heading: 332.522815 deg,
      new cmd heading: 332.525013 deg.

2025-10-25T04:00:00.599Z,1761364800.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803656 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:00.967Z,1761364800.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890261,0.451831,-0.057305],[-0.454799,0.888649,-0.058819],[0.024348,0.078426,0.996623]]
2025-10-25T04:00:00.985Z,1761364800.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:00.987Z,1761364800.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:00.990Z,1761364800.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 228.406631 m,
      bearing: 334.688683 deg,
      approach rate: -0.508029 m/s,
      LOS rate: 0.002164 deg/s,
      cmd heading: 332.525000 deg,
      new cmd heading: 332.527552 deg.

2025-10-25T04:00:00.991Z,1761364800.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803700 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:01.184Z,1761364801.184 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:01.185Z,1761364801.185 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:01.186Z,1761364801.186 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:01.368Z,1761364801.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890218,0.451846,-0.057856],[-0.454914,0.888434,-0.061140],[0.023776,0.080747,0.996451]]
2025-10-25T04:00:01.431Z,1761364801.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:01.434Z,1761364801.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515849
2025-10-25T04:00:01.436Z,1761364801.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 228.178970 m,
      bearing: 334.689657 deg,
      approach rate: -0.513207 m/s,
      LOS rate: 0.002199 deg/s,
      cmd heading: 332.527541 deg,
      new cmd heading: 332.530468 deg.

2025-10-25T04:00:01.437Z,1761364801.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803751 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:01.686Z,1761364801.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768021
2025-10-25T04:00:01.823Z,1761364801.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:01.826Z,1761364801.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 227.986206 m,
      bearing: 334.690484 deg,
      approach rate: -0.491060 m/s,
      LOS rate: 0.002108 deg/s,
      cmd heading: 332.530464 deg,
      new cmd heading: 332.532947 deg.

2025-10-25T04:00:01.827Z,1761364801.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803795 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:01.938Z,1761364801.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019850
2025-10-25T04:00:02.193Z,1761364802.193 [DAT](INFO): DAT read: Rx Time:04:00:01.1656

2025-10-25T04:00:02.195Z,1761364802.195 [DAT](INFO): Rx dataTimestamp_ set to:1761364802.193506
2025-10-25T04:00:02.197Z,1761364802.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278095
2025-10-25T04:00:02.222Z,1761364802.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891850,0.448547,-0.058395],[-0.451830,0.889485,-0.068312],[0.021300,0.087309,0.995954]]
2025-10-25T04:00:02.319Z,1761364802.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:02.326Z,1761364802.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 227.718079 m,
      bearing: 334.693042 deg,
      approach rate: -0.541199 m/s,
      LOS rate: 0.005169 deg/s,
      cmd heading: 332.532951 deg,
      new cmd heading: 332.540634 deg.

2025-10-25T04:00:02.327Z,1761364802.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803929 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:02.442Z,1761364802.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524003
2025-10-25T04:00:02.673Z,1761364802.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.93 m.
2025-10-25T04:00:02.676Z,1761364802.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 256.926178 m,
      nav range: 227.505173 m,
      bearing: 334.695077 deg,
      approach rate: -0.601709 m/s,
      LOS rate: 0.005758 deg/s,
      cmd heading: 332.540628 deg,
      new cmd heading: 332.546740 deg.

2025-10-25T04:00:02.677Z,1761364802.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804036 target range: 256.926178 and range: 256.70 m.
2025-10-25T04:00:02.734Z,1761364802.734 [DAT](INFO): DAT read: 04:00:01.1656 LVL= 16192, 22289, 14050, 24531, AGC= 59, IDX= 417, 0.44, 1.031,-0.101, 1.074, 0.223, PHS= 0.896,-0.277, 0.848, RAW= 147.9, -24.3, CAL= 152.4, -30.8, ROT= 357.6,  30.8

2025-10-25T04:00:02.736Z,1761364802.736 [DAT](INFO): got valid direction response:
 04:00:01.1656 LVL= 16192, 22289, 14050, 24531, AGC= 59, IDX= 417, 0.44, 1.031,-0.101, 1.074, 0.223, PHS= 0.896,-0.277, 0.848, RAW= 147.9, -24.3, CAL= 152.4, -30.8, ROT= 357.6,  30.8

2025-10-25T04:00:02.737Z,1761364802.737 [DAT](INFO): DAT read: Bearing 357.6,  30.8 (Local)

2025-10-25T04:00:02.737Z,1761364802.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  30.8 (Local)

2025-10-25T04:00:02.739Z,1761364802.739 [DAT](INFO): DAT read: Range 10 to 50 : 254.7 m  (Round-trip  339.6 ms) speed  0.4 m/s

2025-10-25T04:00:02.740Z,1761364802.740 [DAT](INFO): DAT read: user:253>

2025-10-25T04:00:02.741Z,1761364802.741 [DAT](INFO): DAT read: Tx time:04:00:02.2718

2025-10-25T04:00:02.741Z,1761364802.741 [DAT](INFO): Ping request sent.
2025-10-25T04:00:02.741Z,1761364802.741 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:02.741Z,1761364802.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:02.742Z,1761364802.742 [DAT](INFO): direction in FSK: [0.858206,-0.035969,-0.512043]
2025-10-25T04:00:02.743Z,1761364802.743 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:02.743Z,1761364802.743 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:02.752Z,1761364802.752 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:02.752Z,1761364802.752 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:02.946Z,1761364802.946 [DAT](INFO): DAT read: TxSync time:04:00:02.2710

2025-10-25T04:00:02.996Z,1761364802.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893804,0.444680,-0.058089],[-0.448082,0.890836,-0.075056],[0.018372,0.093114,0.995486]]
2025-10-25T04:00:03.067Z,1761364803.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 254.699997 m,
      deltaT: 3.782403 s,
      deltaX: -2.000015 m,
      approachRate: -0.528768 m/s,
      rangeRepo size: 4

2025-10-25T04:00:03.075Z,1761364803.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 253.513794 m,
      bearing: 334.158613 deg,
      lat: 36.779506 deg,
      lon: -121.859757 deg,
      deltaT: 7.566423 s,
      deltaX: -3.412384 m,
      approachRate: -0.450990 m/s,
      posRepo size: 4

2025-10-25T04:00:03.077Z,1761364803.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:03.080Z,1761364803.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 222.457962 m,
      bearing: 334.472790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005758 deg/s,
      cmd heading: 332.546748 deg,
      new cmd heading: 332.553556 deg.

2025-10-25T04:00:03.082Z,1761364803.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804154 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:03.459Z,1761364803.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:03.461Z,1761364803.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:03.465Z,1761364803.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 222.214554 m,
      bearing: 334.473627 deg,
      approach rate: -0.617623 m/s,
      LOS rate: 0.002124 deg/s,
      cmd heading: 332.553551 deg,
      new cmd heading: 332.556062 deg.

2025-10-25T04:00:03.466Z,1761364803.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804198 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:03.705Z,1761364803.705 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:03.705Z,1761364803.705 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:03.706Z,1761364803.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:03.804Z,1761364803.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891492,0.448919,-0.060943],[-0.452615,0.888370,-0.077062],[0.019545,0.096283,0.995162]]
2025-10-25T04:00:03.826Z,1761364803.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:03.829Z,1761364803.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 222.011261 m,
      bearing: 334.474596 deg,
      approach rate: -0.556549 m/s,
      LOS rate: 0.002656 deg/s,
      cmd heading: 332.556064 deg,
      new cmd heading: 332.558975 deg.

2025-10-25T04:00:03.830Z,1761364803.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804249 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:03.958Z,1761364803.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217062
2025-10-25T04:00:04.213Z,1761364804.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471334
2025-10-25T04:00:04.256Z,1761364804.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890953,0.450141,-0.059802],[-0.453707,0.887887,-0.076204],[0.018795,0.095026,0.995297]]
2025-10-25T04:00:04.316Z,1761364804.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:04.319Z,1761364804.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 221.740891 m,
      bearing: 334.474361 deg,
      approach rate: -0.551655 m/s,
      LOS rate: -0.000479 deg/s,
      cmd heading: 332.558987 deg,
      new cmd heading: 332.558283 deg.

2025-10-25T04:00:04.320Z,1761364804.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804237 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:04.462Z,1761364804.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720432
2025-10-25T04:00:04.629Z,1761364804.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891101,0.450048,-0.058270],[-0.453458,0.888066,-0.075593],[0.017727,0.093784,0.995435]]
2025-10-25T04:00:04.678Z,1761364804.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:04.686Z,1761364804.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 221.550751 m,
      bearing: 334.474181 deg,
      approach rate: -0.525328 m/s,
      LOS rate: -0.000499 deg/s,
      cmd heading: 332.558277 deg,
      new cmd heading: 332.557735 deg.

2025-10-25T04:00:04.687Z,1761364804.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804227 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:04.715Z,1761364804.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973386
2025-10-25T04:00:04.966Z,1761364804.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224532
2025-10-25T04:00:05.035Z,1761364805.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891012,0.450309,-0.057608],[-0.453677,0.887854,-0.076769],[0.016578,0.094537,0.995383]]
2025-10-25T04:00:05.057Z,1761364805.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:05.060Z,1761364805.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 221.327896 m,
      bearing: 334.473983 deg,
      approach rate: -0.588465 m/s,
      LOS rate: -0.000522 deg/s,
      cmd heading: 332.557731 deg,
      new cmd heading: 332.557137 deg.

2025-10-25T04:00:05.061Z,1761364805.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804217 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:05.221Z,1761364805.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478826
2025-10-25T04:00:05.434Z,1761364805.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891318,0.449773,-0.057070],[-0.453107,0.888059,-0.077757],[0.015709,0.095165,0.995338]]
2025-10-25T04:00:05.469Z,1761364805.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728349
2025-10-25T04:00:05.519Z,1761364805.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:05.526Z,1761364805.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:05.537Z,1761364805.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 221.087479 m,
      bearing: 334.470798 deg,
      approach rate: -0.512661 m/s,
      LOS rate: -0.006799 deg/s,
      cmd heading: 332.557130 deg,
      new cmd heading: 332.547564 deg.

2025-10-25T04:00:05.538Z,1761364805.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804050 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:05.722Z,1761364805.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980466
2025-10-25T04:00:05.838Z,1761364805.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891557,0.449418,-0.056116],[-0.452671,0.888232,-0.078315],[0.014648,0.095225,0.995348]]
2025-10-25T04:00:05.875Z,1761364805.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:05.878Z,1761364805.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 220.878769 m,
      bearing: 334.468001 deg,
      approach rate: -0.597890 m/s,
      LOS rate: -0.008020 deg/s,
      cmd heading: 332.547567 deg,
      new cmd heading: 332.539168 deg.

2025-10-25T04:00:05.879Z,1761364805.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803904 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:05.974Z,1761364805.974 [DAT](INFO): DAT read: Rx Time:04:00:05.0129

2025-10-25T04:00:05.974Z,1761364805.974 [DAT](INFO): Rx dataTimestamp_ set to:1761364805.974016
2025-10-25T04:00:05.975Z,1761364805.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233739
2025-10-25T04:00:06.229Z,1761364806.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487564
2025-10-25T04:00:06.292Z,1761364806.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891893,0.448813,-0.055626],[-0.452028,0.888521,-0.078744],[0.014083,0.095375,0.995342]]
2025-10-25T04:00:06.363Z,1761364806.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 253.51 m.
2025-10-25T04:00:06.370Z,1761364806.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 253.513794 m,
      nav range: 220.623016 m,
      bearing: 334.464228 deg,
      approach rate: -0.524244 m/s,
      LOS rate: -0.007743 deg/s,
      cmd heading: 332.539180 deg,
      new cmd heading: 332.527848 deg.

2025-10-25T04:00:06.371Z,1761364806.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803706 target range: 253.513794 and range: 254.70 m.
2025-10-25T04:00:06.495Z,1761364806.495 [DAT](INFO): DAT read: 04:00:05.0129 LVL= 26192, 26945, 22450, 32755, AGC= 65, IDX= 162, 0.41,-1.508,-2.975,-1.542,-2.009, PHS= 0.590,-0.919, 0.465, RAW= 145.7,  -1.9, CAL= 150.0, -10.9, ROT=   0.0,  10.9

2025-10-25T04:00:06.496Z,1761364806.496 [DAT](INFO): got valid direction response:
 04:00:05.0129 LVL= 26192, 26945, 22450, 32755, AGC= 65, IDX= 162, 0.41,-1.508,-2.975,-1.542,-2.009, PHS= 0.590,-0.919, 0.465, RAW= 145.7,  -1.9, CAL= 150.0, -10.9, ROT=   0.0,  10.9

2025-10-25T04:00:06.498Z,1761364806.498 [DAT](INFO): DAT read: Bearing   0.0,  10.9 (Local)

2025-10-25T04:00:06.499Z,1761364806.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  10.9 (Local)

2025-10-25T04:00:06.502Z,1761364806.502 [DAT](INFO): DAT read: Range 10 to 50 : 252.7 m  (Round-trip  337.0 ms) speed  0.4 m/s

2025-10-25T04:00:06.503Z,1761364806.503 [DAT](INFO): DAT read: user:254>

2025-10-25T04:00:06.503Z,1761364806.503 [DAT](INFO): DAT read: Tx time:04:00:06.1218

2025-10-25T04:00:06.504Z,1761364806.504 [DAT](INFO): Ping request sent.
2025-10-25T04:00:06.504Z,1761364806.504 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:06.504Z,1761364806.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:06.505Z,1761364806.505 [DAT](INFO): direction in FSK: [0.981959,0.000000,-0.189095]
2025-10-25T04:00:06.505Z,1761364806.505 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:06.506Z,1761364806.506 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:06.509Z,1761364806.509 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:06.509Z,1761364806.509 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:06.734Z,1761364806.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891962,0.448688,-0.055529],[-0.451910,0.888477,-0.079915],[0.013479,0.096375,0.995254]]
2025-10-25T04:00:06.738Z,1761364806.738 [DAT](INFO): DAT read: TxSync time:04:00:06.1210

2025-10-25T04:00:06.783Z,1761364806.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.699997 m,
      deltaT: 3.790583 s,
      deltaX: -2.000000 m,
      approachRate: -0.527623 m/s,
      rangeRepo size: 4

2025-10-25T04:00:06.789Z,1761364806.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 251.522568 m,
      bearing: 334.191768 deg,
      lat: 36.779506 deg,
      lon: -121.859757 deg,
      deltaT: 3.790583 s,
      deltaX: -1.991226 m,
      approachRate: -0.525309 m/s,
      posRepo size: 4

2025-10-25T04:00:06.790Z,1761364806.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:06.798Z,1761364806.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 220.401794 m,
      bearing: 334.460951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007743 deg/s,
      cmd heading: 332.527842 deg,
      new cmd heading: 332.518223 deg.

2025-10-25T04:00:06.799Z,1761364806.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803538 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:07.112Z,1761364807.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891617,0.449350,-0.055709],[-0.452590,0.888107,-0.080173],[0.013450,0.096696,0.995223]]
2025-10-25T04:00:07.133Z,1761364807.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:07.136Z,1761364807.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 220.202621 m,
      bearing: 334.458035 deg,
      approach rate: -0.558822 m/s,
      LOS rate: -0.008189 deg/s,
      cmd heading: 332.518225 deg,
      new cmd heading: 332.509468 deg.

2025-10-25T04:00:07.154Z,1761364807.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803385 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:07.506Z,1761364807.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889634,0.453901,-0.050246],[-0.456413,0.887448,-0.064212],[0.015445,0.080058,0.996671]]
2025-10-25T04:00:07.587Z,1761364807.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:07.593Z,1761364807.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:07.596Z,1761364807.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 219.959396 m,
      bearing: 334.455624 deg,
      approach rate: -0.533779 m/s,
      LOS rate: -0.005296 deg/s,
      cmd heading: 332.509455 deg,
      new cmd heading: 332.502215 deg.

2025-10-25T04:00:07.602Z,1761364807.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803258 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:07.750Z,1761364807.750 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:07.750Z,1761364807.750 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:07.750Z,1761364807.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:07.908Z,1761364807.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889039,0.454951,-0.051281],[-0.457552,0.886822,-0.064759],[0.016015,0.081037,0.996582]]
2025-10-25T04:00:07.929Z,1761364807.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:07.933Z,1761364807.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 219.770386 m,
      bearing: 334.453811 deg,
      approach rate: -0.556418 m/s,
      LOS rate: -0.005342 deg/s,
      cmd heading: 332.502215 deg,
      new cmd heading: 332.496771 deg.

2025-10-25T04:00:07.934Z,1761364807.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803164 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:08.003Z,1761364808.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498730
2025-10-25T04:00:08.257Z,1761364808.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752218
2025-10-25T04:00:08.326Z,1761364808.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888705,0.455507,-0.052124],[-0.458186,0.886443,-0.065454],[0.016391,0.082052,0.996493]]
2025-10-25T04:00:08.377Z,1761364808.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:08.380Z,1761364808.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 219.527405 m,
      bearing: 334.453115 deg,
      approach rate: -0.542346 m/s,
      LOS rate: -0.001554 deg/s,
      cmd heading: 332.496778 deg,
      new cmd heading: 332.494689 deg.

2025-10-25T04:00:08.382Z,1761364808.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803127 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:08.506Z,1761364808.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002036
2025-10-25T04:00:08.715Z,1761364808.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888910,0.455111,-0.052084],[-0.457821,0.886477,-0.067519],[0.015443,0.083863,0.996358]]
2025-10-25T04:00:08.782Z,1761364808.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277795
2025-10-25T04:00:08.805Z,1761364808.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:08.808Z,1761364808.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 219.295929 m,
      bearing: 334.452425 deg,
      approach rate: -0.540471 m/s,
      LOS rate: -0.001612 deg/s,
      cmd heading: 332.494702 deg,
      new cmd heading: 332.492630 deg.

2025-10-25T04:00:08.809Z,1761364808.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803091 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:09.010Z,1761364809.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506356
2025-10-25T04:00:09.119Z,1761364809.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889705,0.453598,-0.051708],[-0.456312,0.887088,-0.069674],[0.014266,0.085584,0.996229]]
2025-10-25T04:00:09.125Z,1761364809.125 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:00:09.138Z,1761364809.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:09.141Z,1761364809.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 219.115341 m,
      bearing: 334.451805 deg,
      approach rate: -0.542548 m/s,
      LOS rate: -0.001864 deg/s,
      cmd heading: 332.492625 deg,
      new cmd heading: 332.490764 deg.

2025-10-25T04:00:09.142Z,1761364809.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803059 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:09.266Z,1761364809.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761367
2025-10-25T04:00:09.515Z,1761364809.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010857
2025-10-25T04:00:09.624Z,1761364809.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:09.650Z,1761364809.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:09.656Z,1761364809.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 218.859039 m,
      bearing: 334.451877 deg,
      approach rate: -0.499834 m/s,
      LOS rate: 0.000139 deg/s,
      cmd heading: 332.490767 deg,
      new cmd heading: 332.490982 deg.

2025-10-25T04:00:09.665Z,1761364809.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803062 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:09.766Z,1761364809.766 [DAT](INFO): DAT read: Rx Time:04:00:08.8610

2025-10-25T04:00:09.767Z,1761364809.767 [DAT](INFO): Rx dataTimestamp_ set to:1761364809.766666
2025-10-25T04:00:09.768Z,1761364809.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263905
2025-10-25T04:00:09.931Z,1761364809.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891218,0.450796,-0.050126],[-0.453438,0.888209,-0.074026],[0.011152,0.088702,0.995996]]
2025-10-25T04:00:09.966Z,1761364809.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:09.973Z,1761364809.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 218.679184 m,
      bearing: 334.451773 deg,
      approach rate: -0.569346 m/s,
      LOS rate: -0.000330 deg/s,
      cmd heading: 332.490986 deg,
      new cmd heading: 332.490673 deg.

2025-10-25T04:00:09.974Z,1761364809.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803057 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:10.018Z,1761364810.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514664
2025-10-25T04:00:10.274Z,1761364810.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769663
2025-10-25T04:00:10.358Z,1761364810.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891002,0.451243,-0.049948],[-0.453888,0.887808,-0.076042],[0.010031,0.090424,0.995853]]
2025-10-25T04:00:10.438Z,1761364810.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.52 m.
2025-10-25T04:00:10.446Z,1761364810.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 251.522568 m,
      nav range: 218.415512 m,
      bearing: 334.455308 deg,
      approach rate: -0.558812 m/s,
      LOS rate: 0.007502 deg/s,
      cmd heading: 332.490685 deg,
      new cmd heading: 332.501305 deg.

2025-10-25T04:00:10.447Z,1761364810.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803243 target range: 251.522568 and range: 252.70 m.
2025-10-25T04:00:10.532Z,1761364810.532 [DAT](INFO): DAT read: 04:00:08.8611 LVL= 19728, 21617, 17298, 24563, AGC= 63, IDX= 418, 0.33,-1.756,-3.051,-1.730,-2.713, PHS= 1.045,-0.292, 0.980, RAW= 147.5, -25.1, CAL= 151.9, -31.5, ROT= 358.1,  31.5

2025-10-25T04:00:10.533Z,1761364810.533 [DAT](INFO): got valid direction response:
 04:00:08.8611 LVL= 19728, 21617, 17298, 24563, AGC= 63, IDX= 418, 0.33,-1.756,-3.051,-1.730,-2.713, PHS= 1.045,-0.292, 0.980, RAW= 147.5, -25.1, CAL= 151.9, -31.5, ROT= 358.1,  31.5

2025-10-25T04:00:10.543Z,1761364810.543 [DAT](INFO): DAT read: Bearing 358.1,  31.5 (Local)

2025-10-25T04:00:10.562Z,1761364810.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  31.5 (Local)

2025-10-25T04:00:10.573Z,1761364810.573 [DAT](INFO): DAT read: Range 10 to 50 : 251.2 m  (Round-trip  335.0 ms) speed  0.4 m/s

2025-10-25T04:00:10.574Z,1761364810.574 [DAT](INFO): DAT read: user:255>

2025-10-25T04:00:10.575Z,1761364810.575 [DAT](INFO): DAT read: Tx time:04:00:09.9719

2025-10-25T04:00:10.575Z,1761364810.575 [DAT](INFO): Ping request sent.
2025-10-25T04:00:10.575Z,1761364810.575 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:10.576Z,1761364810.576 [DAT](INFO): DAT read: TxSync time:04:00:09.9711

2025-10-25T04:00:10.581Z,1761364810.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:10.582Z,1761364810.582 [DAT](INFO): direction in FSK: [0.852171,-0.028269,-0.522499]
2025-10-25T04:00:10.582Z,1761364810.582 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:10.583Z,1761364810.583 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:10.587Z,1761364810.587 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:10.587Z,1761364810.587 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:10.756Z,1761364810.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890765,0.451641,-0.050570],[-0.454358,0.887424,-0.077697],[0.009786,0.092186,0.995694]]
2025-10-25T04:00:10.820Z,1761364810.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 251.199997 m,
      deltaT: 4.035637 s,
      deltaX: -1.500000 m,
      approachRate: -0.371689 m/s,
      rangeRepo size: 4

2025-10-25T04:00:10.826Z,1761364810.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.028717 m,
      bearing: 334.312821 deg,
      lat: 36.779480 deg,
      lon: -121.859757 deg,
      deltaT: 4.035637 s,
      deltaX: -1.493851 m,
      approachRate: -0.370165 m/s,
      posRepo size: 4

2025-10-25T04:00:10.827Z,1761364810.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:10.835Z,1761364810.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 215.696823 m,
      bearing: 334.138110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007502 deg/s,
      cmd heading: 332.501313 deg,
      new cmd heading: 332.509898 deg.

2025-10-25T04:00:10.836Z,1761364810.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803392 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:11.161Z,1761364811.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889256,0.454483,-0.051660],[-0.457285,0.885959,-0.077251],[0.010659,0.092319,0.995672]]
2025-10-25T04:00:11.263Z,1761364811.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:11.288Z,1761364811.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 215.455383 m,
      bearing: 334.141283 deg,
      approach rate: -0.544514 m/s,
      LOS rate: 0.007165 deg/s,
      cmd heading: 332.509892 deg,
      new cmd heading: 332.519423 deg.

2025-10-25T04:00:11.313Z,1761364811.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803559 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:11.671Z,1761364811.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:11.674Z,1761364811.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:11.676Z,1761364811.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 215.217621 m,
      bearing: 334.144691 deg,
      approach rate: -0.579082 m/s,
      LOS rate: 0.008309 deg/s,
      cmd heading: 332.519427 deg,
      new cmd heading: 332.529661 deg.

2025-10-25T04:00:11.678Z,1761364811.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803738 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:11.782Z,1761364811.782 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:11.782Z,1761364811.782 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:11.783Z,1761364811.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:12.015Z,1761364812.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884511,0.463301,-0.054710],[-0.466361,0.881173,-0.077734],[0.012195,0.094271,0.995472]]
2025-10-25T04:00:12.034Z,1761364812.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458175
2025-10-25T04:00:12.044Z,1761364812.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:12.048Z,1761364812.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 215.014694 m,
      bearing: 334.148160 deg,
      approach rate: -0.547781 m/s,
      LOS rate: 0.009373 deg/s,
      cmd heading: 332.529672 deg,
      new cmd heading: 332.540088 deg.

2025-10-25T04:00:12.050Z,1761364812.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803919 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:12.287Z,1761364812.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711332
2025-10-25T04:00:12.416Z,1761364812.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884162,0.464020,-0.054257],[-0.467039,0.880778,-0.078129],[0.011535,0.094419,0.995466]]
2025-10-25T04:00:12.476Z,1761364812.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:12.483Z,1761364812.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 214.790649 m,
      bearing: 334.151982 deg,
      approach rate: -0.518837 m/s,
      LOS rate: 0.008862 deg/s,
      cmd heading: 332.540081 deg,
      new cmd heading: 332.551561 deg.

2025-10-25T04:00:12.484Z,1761364812.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804120 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:12.538Z,1761364812.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962165
2025-10-25T04:00:12.790Z,1761364812.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214119
2025-10-25T04:00:12.821Z,1761364812.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883823,0.464731,-0.053683],[-0.467689,0.880466,-0.077763],[0.011127,0.093836,0.995525]]
2025-10-25T04:00:12.840Z,1761364812.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:12.845Z,1761364812.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 214.579926 m,
      bearing: 334.155626 deg,
      approach rate: -0.578726 m/s,
      LOS rate: 0.010018 deg/s,
      cmd heading: 332.551556 deg,
      new cmd heading: 332.562499 deg.

2025-10-25T04:00:12.846Z,1761364812.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804311 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:13.041Z,1761364813.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465999
2025-10-25T04:00:13.272Z,1761364813.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:13.275Z,1761364813.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 214.345688 m,
      bearing: 334.159685 deg,
      approach rate: -0.541891 m/s,
      LOS rate: 0.009401 deg/s,
      cmd heading: 332.562512 deg,
      new cmd heading: 332.574702 deg.

2025-10-25T04:00:13.276Z,1761364813.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804523 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:13.294Z,1761364813.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718642
2025-10-25T04:00:13.546Z,1761364813.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970011
2025-10-25T04:00:13.689Z,1761364813.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:13.691Z,1761364813.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:13.694Z,1761364813.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 214.120712 m,
      bearing: 334.163450 deg,
      approach rate: -0.537347 m/s,
      LOS rate: 0.009000 deg/s,
      cmd heading: 332.574697 deg,
      new cmd heading: 332.586002 deg.

2025-10-25T04:00:13.695Z,1761364813.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804721 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:13.799Z,1761364813.799 [DAT](INFO): DAT read: Rx Time:04:00:12.7088

2025-10-25T04:00:13.800Z,1761364813.800 [DAT](INFO): Rx dataTimestamp_ set to:1761364813.799283
2025-10-25T04:00:13.800Z,1761364813.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224638
2025-10-25T04:00:14.033Z,1761364814.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884470,0.463497,-0.053690],[-0.466482,0.880927,-0.079765],[0.010326,0.095595,0.995367]]
2025-10-25T04:00:14.050Z,1761364814.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474212
2025-10-25T04:00:14.054Z,1761364814.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.03 m.
2025-10-25T04:00:14.057Z,1761364814.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.028717 m,
      nav range: 213.927887 m,
      bearing: 334.166612 deg,
      approach rate: -0.530352 m/s,
      LOS rate: 0.008705 deg/s,
      cmd heading: 332.586008 deg,
      new cmd heading: 332.595503 deg.

2025-10-25T04:00:14.058Z,1761364814.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804887 target range: 250.028717 and range: 251.20 m.
2025-10-25T04:00:14.316Z,1761364814.316 [DAT](INFO): DAT read: 04:00:12.7088 LVL= 18448, 21777, 17234, 21347, AGC= 61, IDX= 411, 0.40, 2.292, 1.130, 2.280, 1.449, PHS= 0.931,-0.272, 0.829, RAW= 145.6, -24.5, CAL= 150.2, -31.0, ROT= 359.8,  31.0

2025-10-25T04:00:14.319Z,1761364814.319 [DAT](INFO): got valid direction response:
 04:00:12.7088 LVL= 18448, 21777, 17234, 21347, AGC= 61, IDX= 411, 0.40, 2.292, 1.130, 2.280, 1.449, PHS= 0.931,-0.272, 0.829, RAW= 145.6, -24.5, CAL= 150.2, -31.0, ROT= 359.8,  31.0

2025-10-25T04:00:14.322Z,1761364814.322 [DAT](INFO): DAT read: Bearing 359.8,  31.0 (Local)

2025-10-25T04:00:14.323Z,1761364814.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  31.0 (Local)

2025-10-25T04:00:14.325Z,1761364814.325 [DAT](INFO): DAT read: Range 10 to 50 : 249.6 m  (Round-trip  332.8 ms) speed  0.0 m/s

2025-10-25T04:00:14.327Z,1761364814.327 [DAT](INFO): DAT read: user:256>

2025-10-25T04:00:14.331Z,1761364814.331 [DAT](INFO): DAT read: Tx time:04:00:13.8219

2025-10-25T04:00:14.332Z,1761364814.332 [DAT](INFO): Ping request sent.
2025-10-25T04:00:14.361Z,1761364814.361 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:14.362Z,1761364814.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:14.384Z,1761364814.384 [DAT](INFO): direction in FSK: [0.857162,-0.002992,-0.515038]
2025-10-25T04:00:14.386Z,1761364814.386 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:14.387Z,1761364814.387 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:14.437Z,1761364814.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884610,0.463321,-0.052896],[-0.466237,0.880999,-0.080397],[0.009352,0.095782,0.995358]]
2025-10-25T04:00:14.456Z,1761364814.456 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:14.456Z,1761364814.456 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:14.542Z,1761364814.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.600006 m,
      deltaT: 3.779869 s,
      deltaX: -1.599991 m,
      approachRate: -0.423293 m/s,
      rangeRepo size: 4

2025-10-25T04:00:14.544Z,1761364814.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.436310 m,
      bearing: 335.286860 deg,
      lat: 36.779503 deg,
      lon: -121.859744 deg,
      deltaT: 3.779869 s,
      deltaX: -1.592407 m,
      approachRate: -0.421286 m/s,
      posRepo size: 4

2025-10-25T04:00:14.549Z,1761364814.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:14.552Z,1761364814.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 215.414093 m,
      bearing: 334.731254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008705 deg/s,
      cmd heading: 332.595515 deg,
      new cmd heading: 332.608097 deg.

2025-10-25T04:00:14.554Z,1761364814.554 [DAT](INFO): DAT read: TxSync time:04:00:13.8211

2025-10-25T04:00:14.557Z,1761364814.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805107 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:14.843Z,1761364814.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884129,0.464059,-0.054454],[-0.467128,0.880480,-0.080914],[0.010397,0.096975,0.995232]]
2025-10-25T04:00:14.867Z,1761364814.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:14.870Z,1761364814.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 215.229858 m,
      bearing: 334.732852 deg,
      approach rate: -0.556686 m/s,
      LOS rate: 0.004832 deg/s,
      cmd heading: 332.608110 deg,
      new cmd heading: 332.612908 deg.

2025-10-25T04:00:14.871Z,1761364814.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805191 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:15.244Z,1761364815.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883482,0.465163,-0.055522],[-0.468354,0.879623,-0.083108],[0.010179,0.099428,0.994993]]
2025-10-25T04:00:15.278Z,1761364815.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:15.287Z,1761364815.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 215.024170 m,
      bearing: 334.734716 deg,
      approach rate: -0.501273 m/s,
      LOS rate: 0.004549 deg/s,
      cmd heading: 332.612919 deg,
      new cmd heading: 332.618518 deg.

2025-10-25T04:00:15.293Z,1761364815.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805288 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:15.671Z,1761364815.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883123,0.465843,-0.055540],[-0.469032,0.879274,-0.082989],[0.010175,0.099340,0.995001]]
2025-10-25T04:00:15.719Z,1761364815.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:15.721Z,1761364815.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:15.727Z,1761364815.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 214.788513 m,
      bearing: 334.735974 deg,
      approach rate: -0.530900 m/s,
      LOS rate: 0.002836 deg/s,
      cmd heading: 332.618519 deg,
      new cmd heading: 332.622296 deg.

2025-10-25T04:00:15.728Z,1761364815.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805354 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:15.815Z,1761364815.815 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:15.815Z,1761364815.815 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:15.816Z,1761364815.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:16.066Z,1761364816.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734265
2025-10-25T04:00:16.126Z,1761364816.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883970,0.464407,-0.054062],[-0.467467,0.879991,-0.084204],[0.008470,0.099706,0.994981]]
2025-10-25T04:00:16.145Z,1761364816.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:16.150Z,1761364816.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 214.569290 m,
      bearing: 334.737042 deg,
      approach rate: -0.517304 m/s,
      LOS rate: 0.002524 deg/s,
      cmd heading: 332.622290 deg,
      new cmd heading: 332.625499 deg.

2025-10-25T04:00:16.151Z,1761364816.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805410 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:16.320Z,1761364816.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987720
2025-10-25T04:00:16.525Z,1761364816.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884669,0.463267,-0.052383],[-0.466172,0.880584,-0.085175],[0.006669,0.099771,0.994988]]
2025-10-25T04:00:16.571Z,1761364816.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238878
2025-10-25T04:00:16.603Z,1761364816.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:16.610Z,1761364816.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 214.348419 m,
      bearing: 334.735773 deg,
      approach rate: -0.482590 m/s,
      LOS rate: -0.002776 deg/s,
      cmd heading: 332.625486 deg,
      new cmd heading: 332.621675 deg.

2025-10-25T04:00:16.611Z,1761364816.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805343 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:16.822Z,1761364816.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489596
2025-10-25T04:00:16.930Z,1761364816.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885847,0.461181,-0.050862],[-0.463955,0.881540,-0.087371],[0.004543,0.100995,0.994877]]
2025-10-25T04:00:16.968Z,1761364816.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:16.971Z,1761364816.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 214.149139 m,
      bearing: 334.734493 deg,
      approach rate: -0.546535 m/s,
      LOS rate: -0.003514 deg/s,
      cmd heading: 332.621661 deg,
      new cmd heading: 332.617817 deg.

2025-10-25T04:00:16.972Z,1761364816.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805276 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:17.075Z,1761364817.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743303
2025-10-25T04:00:17.326Z,1761364817.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994343
2025-10-25T04:00:17.347Z,1761364817.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886702,0.459747,-0.048912],[-0.462336,0.882235,-0.088917],[0.002273,0.101457,0.994837]]
2025-10-25T04:00:17.443Z,1761364817.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:17.450Z,1761364817.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 213.941605 m,
      bearing: 334.733056 deg,
      approach rate: -0.436197 m/s,
      LOS rate: -0.003024 deg/s,
      cmd heading: 332.617809 deg,
      new cmd heading: 332.613493 deg.

2025-10-25T04:00:17.451Z,1761364817.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805201 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:17.578Z,1761364817.578 [DAT](INFO): DAT read: Rx Time:04:00:16.5071

2025-10-25T04:00:17.578Z,1761364817.578 [DAT](INFO): Rx dataTimestamp_ set to:1761364817.577747
2025-10-25T04:00:17.579Z,1761364817.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246679
2025-10-25T04:00:17.738Z,1761364817.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887926,0.457635,-0.046448],[-0.459986,0.883340,-0.090129],[-0.000216,0.101393,0.994846]]
2025-10-25T04:00:17.812Z,1761364817.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:17.818Z,1761364817.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:17.825Z,1761364817.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 213.719437 m,
      bearing: 334.730379 deg,
      approach rate: -0.592734 m/s,
      LOS rate: -0.007150 deg/s,
      cmd heading: 332.613492 deg,
      new cmd heading: 332.605452 deg.

2025-10-25T04:00:17.826Z,1761364817.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805060 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:17.830Z,1761364817.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497729
2025-10-25T04:00:18.088Z,1761364818.088 [DAT](INFO): DAT read: 04:00:16.5071 LVL= 18240, 25025, 15778, 29299, AGC= 64, IDX= 426, 0.06,-1.574,-2.927,-1.592,-2.011, PHS= 0.525,-0.869, 0.415, RAW= 145.9,  -1.1, CAL= 149.9, -10.1, ROT=   0.1,  10.1

2025-10-25T04:00:18.089Z,1761364818.089 [DAT](INFO): got valid direction response:
 04:00:16.5071 LVL= 18240, 25025, 15778, 29299, AGC= 64, IDX= 426, 0.06,-1.574,-2.927,-1.592,-2.011, PHS= 0.525,-0.869, 0.415, RAW= 145.9,  -1.1, CAL= 149.9, -10.1, ROT=   0.1,  10.1

2025-10-25T04:00:18.090Z,1761364818.090 [DAT](INFO): DAT read: Bearing   0.1,  10.1 (Local)

2025-10-25T04:00:18.090Z,1761364818.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,  10.1 (Local)

2025-10-25T04:00:18.092Z,1761364818.092 [DAT](INFO): DAT read: Range 10 to 50 : 210.7 m  (Round-trip  281.0 ms) speed  0.4 m/s

2025-10-25T04:00:18.093Z,1761364818.093 [DAT](INFO): DAT read: user:257>

2025-10-25T04:00:18.094Z,1761364818.094 [DAT](INFO): DAT read: Tx time:04:00:17.6219

2025-10-25T04:00:18.094Z,1761364818.094 [DAT](INFO): Ping request sent.
2025-10-25T04:00:18.094Z,1761364818.094 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:18.094Z,1761364818.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:18.095Z,1761364818.095 [DAT](INFO): direction in FSK: [0.984502,0.001718,-0.175367]
2025-10-25T04:00:18.095Z,1761364818.095 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:18.096Z,1761364818.096 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:18.100Z,1761364818.100 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:18.100Z,1761364818.100 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:18.176Z,1761364818.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888837,0.456031,-0.044777],[-0.458219,0.884104,-0.091627],[-0.002197,0.101959,0.994786]]
2025-10-25T04:00:18.272Z,1761364818.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 210.699997 m,
 deltaT: 3.779900 s,
 deltaX: -38.900009 m,
 approachRate: -10.291280 m/s,
 rangeRepo size: 4
2025-10-25T04:00:18.277Z,1761364818.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:18.285Z,1761364818.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 213.493057 m,
      bearing: 334.727525 deg,
      approach rate: -0.499586 m/s,
      LOS rate: -0.006305 deg/s,
      cmd heading: 332.605460 deg,
      new cmd heading: 332.596889 deg.

2025-10-25T04:00:18.287Z,1761364818.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804911 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:18.338Z,1761364818.338 [DAT](INFO): DAT read: TxSync time:04:00:17.6211

2025-10-25T04:00:18.594Z,1761364818.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889546,0.454917,-0.041930],[-0.456821,0.884797,-0.091918],[-0.004715,0.100920,0.994883]]
2025-10-25T04:00:18.654Z,1761364818.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:18.658Z,1761364818.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 213.281509 m,
      bearing: 334.725548 deg,
      approach rate: -0.552049 m/s,
      LOS rate: -0.005164 deg/s,
      cmd heading: 332.596881 deg,
      new cmd heading: 332.590945 deg.

2025-10-25T04:00:18.658Z,1761364818.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804807 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:18.979Z,1761364818.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888491,0.456871,-0.043039],[-0.458868,0.883542,-0.093772],[-0.004815,0.103065,0.994663]]
2025-10-25T04:00:18.999Z,1761364818.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:19.003Z,1761364819.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 213.101685 m,
      bearing: 334.723976 deg,
      approach rate: -0.521487 m/s,
      LOS rate: -0.004562 deg/s,
      cmd heading: 332.590953 deg,
      new cmd heading: 332.586233 deg.

2025-10-25T04:00:19.004Z,1761364819.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804725 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:19.400Z,1761364819.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888305,0.457415,-0.041063],[-0.459207,0.883379,-0.093651],[-0.006563,0.102047,0.994758]]
2025-10-25T04:00:19.496Z,1761364819.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:19.502Z,1761364819.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 212.859268 m,
      bearing: 334.721878 deg,
      approach rate: -0.488505 m/s,
      LOS rate: -0.004233 deg/s,
      cmd heading: 332.586226 deg,
      new cmd heading: 332.579925 deg.

2025-10-25T04:00:19.503Z,1761364819.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804615 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:19.854Z,1761364819.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:19.856Z,1761364819.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:19.859Z,1761364819.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 212.660660 m,
      bearing: 334.720807 deg,
      approach rate: -0.551007 m/s,
      LOS rate: -0.002976 deg/s,
      cmd heading: 332.579915 deg,
      new cmd heading: 332.576697 deg.

2025-10-25T04:00:19.860Z,1761364819.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804558 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:20.099Z,1761364820.099 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:20.099Z,1761364820.099 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:20.099Z,1761364820.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:20.192Z,1761364820.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889314,0.455868,-0.036126],[-0.457167,0.884398,-0.094013],[-0.010908,0.100123,0.994915]]
2025-10-25T04:00:20.215Z,1761364820.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:20.218Z,1761364820.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 212.473465 m,
      bearing: 334.719679 deg,
      approach rate: -0.522059 m/s,
      LOS rate: -0.003146 deg/s,
      cmd heading: 332.576691 deg,
      new cmd heading: 332.573307 deg.

2025-10-25T04:00:20.219Z,1761364820.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804499 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:20.350Z,1761364820.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255753
2025-10-25T04:00:20.596Z,1761364820.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890026,0.454638,-0.034027],[-0.455723,0.885043,-0.094952],[-0.013054,0.100016,0.994900]]
2025-10-25T04:00:20.602Z,1761364820.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507711
2025-10-25T04:00:20.659Z,1761364820.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:20.673Z,1761364820.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 212.244507 m,
      bearing: 334.719449 deg,
      approach rate: -0.514794 m/s,
      LOS rate: -0.000520 deg/s,
      cmd heading: 332.573303 deg,
      new cmd heading: 332.572610 deg.

2025-10-25T04:00:20.674Z,1761364820.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804487 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:20.854Z,1761364820.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759828
2025-10-25T04:00:20.000Z,1761364821.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890193,0.454504,-0.031350],[-0.455335,0.885322,-0.094205],[-0.015062,0.098136,0.995059]]
2025-10-25T04:00:21.027Z,1761364821.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:21.030Z,1761364821.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 212.031754 m,
      bearing: 334.719210 deg,
      approach rate: -0.578823 m/s,
      LOS rate: -0.000650 deg/s,
      cmd heading: 332.572620 deg,
      new cmd heading: 332.571904 deg.

2025-10-25T04:00:21.031Z,1761364821.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804475 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:21.107Z,1761364821.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013188
2025-10-25T04:00:21.358Z,1761364821.358 [DAT](INFO): DAT read: Rx Time:04:00:20.3292

2025-10-25T04:00:21.358Z,1761364821.358 [DAT](INFO): Rx dataTimestamp_ set to:1761364821.357766
2025-10-25T04:00:21.359Z,1761364821.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264631
2025-10-25T04:00:21.411Z,1761364821.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890627,0.453785,-0.029375],[-0.454422,0.885763,-0.094471],[-0.016850,0.097487,0.995094]]
2025-10-25T04:00:21.511Z,1761364821.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.44 m.
2025-10-25T04:00:21.518Z,1761364821.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.436310 m,
      nav range: 211.794617 m,
      bearing: 334.718879 deg,
      approach rate: -0.490043 m/s,
      LOS rate: -0.000685 deg/s,
      cmd heading: 332.571910 deg,
      new cmd heading: 332.570915 deg.

2025-10-25T04:00:21.519Z,1761364821.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804458 target range: 248.436310 and range: 249.60 m.
2025-10-25T04:00:21.610Z,1761364821.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515593
2025-10-25T04:00:21.868Z,1761364821.868 [DAT](INFO): DAT read: 04:00:20.3292 LVL= 22352, 23585, 17970, 23411, AGC= 66, IDX= 152,-0.04,-2.693, 2.251,-2.654, 2.746, PHS= 0.932,-0.448, 0.880, RAW= 148.1, -19.6, CAL= 153.6, -26.8, ROT= 356.4,  26.8

2025-10-25T04:00:21.869Z,1761364821.869 [DAT](INFO): got valid direction response:
 04:00:20.3292 LVL= 22352, 23585, 17970, 23411, AGC= 66, IDX= 152,-0.04,-2.693, 2.251,-2.654, 2.746, PHS= 0.932,-0.448, 0.880, RAW= 148.1, -19.6, CAL= 153.6, -26.8, ROT= 356.4,  26.8

2025-10-25T04:00:21.870Z,1761364821.870 [DAT](INFO): DAT read: Bearing 356.4,  26.8 (Local)

2025-10-25T04:00:21.871Z,1761364821.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  26.8 (Local)

2025-10-25T04:00:21.873Z,1761364821.873 [DAT](INFO): DAT read: Range 10 to 50 : 227.3 m  (Round-trip  303.1 ms) speed  0.4 m/s

2025-10-25T04:00:21.874Z,1761364821.874 [DAT](INFO): DAT read: user:258>

2025-10-25T04:00:21.875Z,1761364821.875 [DAT](INFO): DAT read: Tx time:04:00:21.4220

2025-10-25T04:00:21.875Z,1761364821.875 [DAT](INFO): Ping request sent.
2025-10-25T04:00:21.875Z,1761364821.875 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:21.875Z,1761364821.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:21.877Z,1761364821.877 [DAT](INFO): direction in FSK: [0.890824,-0.056046,-0.450878]
2025-10-25T04:00:21.878Z,1761364821.878 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:21.878Z,1761364821.878 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:21.886Z,1761364821.886 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:21.887Z,1761364821.887 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:21.982Z,1761364821.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.300003 m,
      deltaT: 7.559704 s,
      deltaX: -22.300003 m,
      approachRate: -2.949851 m/s,
      rangeRepo size: 4

2025-10-25T04:00:21.984Z,1761364821.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.237808 m,
      bearing: 332.201327 deg,
      lat: 36.779472 deg,
      lon: -121.859744 deg,
      deltaT: 7.559704 s,
      deltaX: -22.198502 m,
      approachRate: -2.936425 m/s,
      posRepo size: 4

2025-10-25T04:00:21.990Z,1761364821.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:21.997Z,1761364821.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 208.513702 m,
      bearing: 334.325754 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000685 deg/s,
      cmd heading: 332.570927 deg,
      new cmd heading: 332.569977 deg.

2025-10-25T04:00:21.999Z,1761364821.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804441 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:22.114Z,1761364822.114 [DAT](INFO): DAT read: TxSync time:04:00:21.4212

2025-10-25T04:00:22.347Z,1761364822.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:22.353Z,1761364822.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:22.356Z,1761364822.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 208.296936 m,
      bearing: 334.325654 deg,
      approach rate: -0.569564 m/s,
      LOS rate: -0.000264 deg/s,
      cmd heading: 332.569970 deg,
      new cmd heading: 332.569669 deg.

2025-10-25T04:00:22.361Z,1761364822.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804436 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:22.365Z,1761364822.365 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:22.365Z,1761364822.365 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:22.366Z,1761364822.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:22.618Z,1761364822.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742449
2025-10-25T04:00:22.686Z,1761364822.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889414,0.456529,-0.022883],[-0.456698,0.885413,-0.086435],[-0.019200,0.087327,0.995995]]
2025-10-25T04:00:22.784Z,1761364822.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:22.792Z,1761364822.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 208.071686 m,
      bearing: 334.327478 deg,
      approach rate: -0.522700 m/s,
      LOS rate: 0.004236 deg/s,
      cmd heading: 332.569670 deg,
      new cmd heading: 332.575147 deg.

2025-10-25T04:00:22.849Z,1761364822.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804531 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:22.870Z,1761364822.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994439
2025-10-25T04:00:23.122Z,1761364823.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246384
2025-10-25T04:00:23.126Z,1761364823.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890302,0.454774,-0.023325],[-0.454941,0.886064,-0.088989],[-0.019803,0.089838,0.995759]]
2025-10-25T04:00:23.145Z,1761364823.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:23.150Z,1761364823.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 207.874298 m,
      bearing: 334.328971 deg,
      approach rate: -0.546290 m/s,
      LOS rate: 0.004136 deg/s,
      cmd heading: 332.575134 deg,
      new cmd heading: 332.579617 deg.

2025-10-25T04:00:23.151Z,1761364823.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804609 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:23.374Z,1761364823.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498303
2025-10-25T04:00:23.535Z,1761364823.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890839,0.453775,-0.022246],[-0.453805,0.886432,-0.091102],[-0.021621,0.091253,0.995593]]
2025-10-25T04:00:23.590Z,1761364823.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:23.592Z,1761364823.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 207.638611 m,
      bearing: 334.331267 deg,
      approach rate: -0.530532 m/s,
      LOS rate: 0.005175 deg/s,
      cmd heading: 332.579615 deg,
      new cmd heading: 332.586512 deg.

2025-10-25T04:00:23.593Z,1761364823.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804729 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:23.626Z,1761364823.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750399
2025-10-25T04:00:23.880Z,1761364823.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004463
2025-10-25T04:00:23.925Z,1761364823.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891514,0.452508,-0.020944],[-0.452378,0.886947,-0.093156],[-0.023577,0.092525,0.995431]]
2025-10-25T04:00:23.958Z,1761364823.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:23.961Z,1761364823.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 207.440659 m,
      bearing: 334.333113 deg,
      approach rate: -0.536948 m/s,
      LOS rate: 0.005012 deg/s,
      cmd heading: 332.586499 deg,
      new cmd heading: 332.592042 deg.

2025-10-25T04:00:23.962Z,1761364823.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804826 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:24.134Z,1761364824.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258516
2025-10-25T04:00:24.329Z,1761364824.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891876,0.451852,-0.019669],[-0.451573,0.887207,-0.094580],[-0.025286,0.093236,0.995323]]
2025-10-25T04:00:24.365Z,1761364824.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:24.367Z,1761364824.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:24.374Z,1761364824.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 207.232529 m,
      bearing: 334.335007 deg,
      approach rate: -0.508700 m/s,
      LOS rate: 0.004632 deg/s,
      cmd heading: 332.592045 deg,
      new cmd heading: 332.597731 deg.

2025-10-25T04:00:24.375Z,1761364824.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804925 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:24.386Z,1761364824.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510405
2025-10-25T04:00:24.638Z,1761364824.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762721
2025-10-25T04:00:24.811Z,1761364824.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:24.816Z,1761364824.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 206.985123 m,
      bearing: 334.338024 deg,
      approach rate: -0.557243 m/s,
      LOS rate: 0.006804 deg/s,
      cmd heading: 332.597728 deg,
      new cmd heading: 332.606790 deg.

2025-10-25T04:00:24.817Z,1761364824.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805084 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:24.890Z,1761364824.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014533
2025-10-25T04:00:25.137Z,1761364825.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891540,0.452584,-0.017985],[-0.452092,0.886733,-0.096527],[-0.027738,0.094189,0.995168]]
2025-10-25T04:00:25.142Z,1761364825.142 [DAT](INFO): DAT read: Rx Time:04:00:24.1274

2025-10-25T04:00:25.142Z,1761364825.142 [DAT](INFO): Rx dataTimestamp_ set to:1761364825.141841
2025-10-25T04:00:25.143Z,1761364825.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267472
2025-10-25T04:00:25.160Z,1761364825.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.24 m.
2025-10-25T04:00:25.163Z,1761364825.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.237808 m,
      nav range: 206.795349 m,
      bearing: 334.340375 deg,
      approach rate: -0.545051 m/s,
      LOS rate: 0.006759 deg/s,
      cmd heading: 332.606799 deg,
      new cmd heading: 332.613859 deg.

2025-10-25T04:00:25.165Z,1761364825.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805207 target range: 226.237808 and range: 227.30 m.
2025-10-25T04:00:25.394Z,1761364825.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518834
2025-10-25T04:00:25.602Z,1761364825.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891297,0.453084,-0.017460],[-0.452510,0.886409,-0.097536],[-0.028715,0.094834,0.995079]]
2025-10-25T04:00:25.652Z,1761364825.652 [DAT](INFO): DAT read: 04:00:24.1274 LVL= 19136, 21697, 17698, 29651, AGC= 66, IDX= 425,-0.18, 1.809, 0.696, 1.885, 0.920, PHS= 0.977,-0.177, 0.961, RAW= 149.3, -28.5, CAL= 152.9, -34.3, ROT= 357.1,  34.3

2025-10-25T04:00:25.653Z,1761364825.653 [DAT](INFO): got valid direction response:
 04:00:24.1274 LVL= 19136, 21697, 17698, 29651, AGC= 66, IDX= 425,-0.18, 1.809, 0.696, 1.885, 0.920, PHS= 0.977,-0.177, 0.961, RAW= 149.3, -28.5, CAL= 152.9, -34.3, ROT= 357.1,  34.3

2025-10-25T04:00:25.654Z,1761364825.654 [DAT](INFO): DAT read: Bearing 357.1,  34.3 (Local)

2025-10-25T04:00:25.655Z,1761364825.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  34.3 (Local)

2025-10-25T04:00:25.656Z,1761364825.656 [DAT](INFO): DAT read: Range 10 to 50 : 225.9 m  (Round-trip  301.2 ms) speed  0.3 m/s

2025-10-25T04:00:25.657Z,1761364825.657 [DAT](INFO): DAT read: user:259>

2025-10-25T04:00:25.658Z,1761364825.658 [DAT](INFO): DAT read: Tx time:04:00:25.2220

2025-10-25T04:00:25.658Z,1761364825.658 [DAT](INFO): Ping request sent.
2025-10-25T04:00:25.658Z,1761364825.658 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:25.658Z,1761364825.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:25.659Z,1761364825.659 [DAT](INFO): direction in FSK: [0.825040,-0.041795,-0.563526]
2025-10-25T04:00:25.660Z,1761364825.660 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:25.660Z,1761364825.660 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:25.664Z,1761364825.664 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:25.664Z,1761364825.664 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:25.736Z,1761364825.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.899994 m,
      deltaT: 3.783761 s,
      deltaX: -1.400009 m,
      approachRate: -0.370005 m/s,
      rangeRepo size: 4

2025-10-25T04:00:25.747Z,1761364825.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.844269 m,
      bearing: 333.923424 deg,
      lat: 36.779433 deg,
      lon: -121.859742 deg,
      deltaT: 3.783761 s,
      deltaX: -1.393539 m,
      approachRate: -0.368295 m/s,
      posRepo size: 4

2025-10-25T04:00:25.765Z,1761364825.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:25.767Z,1761364825.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 202.462952 m,
      bearing: 333.865576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006759 deg/s,
      cmd heading: 332.613847 deg,
      new cmd heading: 332.625528 deg.

2025-10-25T04:00:25.768Z,1761364825.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805411 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:25.899Z,1761364825.899 [DAT](INFO): DAT read: TxSync time:04:00:25.2212

2025-10-25T04:00:26.063Z,1761364826.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891298,0.453098,-0.017035],[-0.452446,0.886302,-0.098798],[-0.029667,0.095766,0.994962]]
2025-10-25T04:00:26.099Z,1761364826.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:26.106Z,1761364826.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 202.263168 m,
      bearing: 333.867524 deg,
      approach rate: -0.549347 m/s,
      LOS rate: 0.005362 deg/s,
      cmd heading: 332.625541 deg,
      new cmd heading: 332.631391 deg.

2025-10-25T04:00:26.107Z,1761364826.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805513 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:26.463Z,1761364826.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890528,0.454564,-0.018212],[-0.454035,0.885559,-0.098173],[-0.028498,0.095695,0.995003]]
2025-10-25T04:00:26.503Z,1761364826.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:26.505Z,1761364826.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:26.515Z,1761364826.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 202.048080 m,
      bearing: 333.869733 deg,
      approach rate: -0.530710 m/s,
      LOS rate: 0.005458 deg/s,
      cmd heading: 332.631387 deg,
      new cmd heading: 332.638023 deg.

2025-10-25T04:00:26.537Z,1761364826.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805629 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:26.653Z,1761364826.653 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:26.654Z,1761364826.654 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:26.654Z,1761364826.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:26.906Z,1761364826.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247839
2025-10-25T04:00:26.943Z,1761364826.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:26.948Z,1761364826.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 201.829636 m,
      bearing: 333.871512 deg,
      approach rate: -0.498680 m/s,
      LOS rate: 0.004065 deg/s,
      cmd heading: 332.638026 deg,
      new cmd heading: 332.643368 deg.

2025-10-25T04:00:26.953Z,1761364826.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805722 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:27.159Z,1761364827.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500285
2025-10-25T04:00:27.274Z,1761364827.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890033,0.455553,-0.017670],[-0.454918,0.884923,-0.099804],[-0.029829,0.096867,0.994850]]
2025-10-25T04:00:27.302Z,1761364827.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:27.307Z,1761364827.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 201.637192 m,
      bearing: 333.873137 deg,
      approach rate: -0.535779 m/s,
      LOS rate: 0.004529 deg/s,
      cmd heading: 332.643381 deg,
      new cmd heading: 332.648262 deg.

2025-10-25T04:00:27.325Z,1761364827.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805808 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:27.409Z,1761364827.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751422
2025-10-25T04:00:27.661Z,1761364827.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003429
2025-10-25T04:00:27.678Z,1761364827.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890215,0.455264,-0.015873],[-0.454428,0.885066,-0.100763],[-0.031825,0.096914,0.994784]]
2025-10-25T04:00:27.741Z,1761364827.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:27.743Z,1761364827.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 201.411835 m,
      bearing: 333.873707 deg,
      approach rate: -0.513635 m/s,
      LOS rate: 0.001300 deg/s,
      cmd heading: 332.648272 deg,
      new cmd heading: 332.649983 deg.

2025-10-25T04:00:27.744Z,1761364827.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805838 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:27.915Z,1761364827.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256707
2025-10-25T04:00:28.081Z,1761364828.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890411,0.454930,-0.014373],[-0.453914,0.885206,-0.101842],[-0.033608,0.097205,0.994697]]
2025-10-25T04:00:28.112Z,1761364828.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:28.116Z,1761364828.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 201.223740 m,
      bearing: 333.874154 deg,
      approach rate: -0.506879 m/s,
      LOS rate: 0.001207 deg/s,
      cmd heading: 332.649993 deg,
      new cmd heading: 332.651336 deg.

2025-10-25T04:00:28.117Z,1761364828.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805861 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:28.167Z,1761364828.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508472
2025-10-25T04:00:28.417Z,1761364828.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759423
2025-10-25T04:00:28.531Z,1761364828.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:28.550Z,1761364828.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:28.575Z,1761364828.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 201.010544 m,
      bearing: 333.874663 deg,
      approach rate: -0.506542 m/s,
      LOS rate: 0.001209 deg/s,
      cmd heading: 332.651332 deg,
      new cmd heading: 332.652858 deg.

2025-10-25T04:00:28.598Z,1761364828.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805888 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:28.671Z,1761364828.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012518
2025-10-25T04:00:28.922Z,1761364828.922 [DAT](INFO): DAT read: Rx Time:04:00:27.9246

2025-10-25T04:00:28.922Z,1761364828.922 [DAT](INFO): Rx dataTimestamp_ set to:1761364828.921789
2025-10-25T04:00:28.923Z,1761364828.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264584
2025-10-25T04:00:28.945Z,1761364828.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:28.950Z,1761364828.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 200.801804 m,
      bearing: 333.875372 deg,
      approach rate: -0.506880 m/s,
      LOS rate: 0.001725 deg/s,
      cmd heading: 332.652861 deg,
      new cmd heading: 332.654993 deg.

2025-10-25T04:00:28.950Z,1761364828.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805925 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:29.174Z,1761364829.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515471
2025-10-25T04:00:29.294Z,1761364829.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890662,0.454510,-0.011892],[-0.453159,0.885281,-0.104520],[-0.036977,0.098481,0.994452]]
2025-10-25T04:00:29.342Z,1761364829.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.84 m.
2025-10-25T04:00:29.376Z,1761364829.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.844269 m,
      nav range: 200.611816 m,
      bearing: 333.875977 deg,
      approach rate: -0.477578 m/s,
      LOS rate: 0.001522 deg/s,
      cmd heading: 332.654993 deg,
      new cmd heading: 332.656808 deg.

2025-10-25T04:00:29.384Z,1761364829.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805956 target range: 224.844269 and range: 225.90 m.
2025-10-25T04:00:29.433Z,1761364829.433 [DAT](INFO): DAT read: 04:00:27.9246 LVL= 22256, 32753, 17490, 32755, AGC= 63, IDX= 411, 0.22,-0.021,-1.513,-0.060,-0.349, PHS= 0.416,-1.118, 0.285, RAW= 145.6,   5.7, CAL= 148.0,  -2.8, ROT=   2.0,   2.8

2025-10-25T04:00:29.434Z,1761364829.434 [DAT](INFO): got valid direction response:
 04:00:27.9246 LVL= 22256, 32753, 17490, 32755, AGC= 63, IDX= 411, 0.22,-0.021,-1.513,-0.060,-0.349, PHS= 0.416,-1.118, 0.285, RAW= 145.6,   5.7, CAL= 148.0,  -2.8, ROT=   2.0,   2.8

2025-10-25T04:00:29.435Z,1761364829.435 [DAT](INFO): DAT read: Bearing   2.0,   2.8 (Local)

2025-10-25T04:00:29.436Z,1761364829.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   2.8 (Local)

2025-10-25T04:00:29.437Z,1761364829.437 [DAT](INFO): DAT read: Range 10 to 50 : 223.8 m  (Round-trip  298.4 ms) speed  1.0 m/s

2025-10-25T04:00:29.438Z,1761364829.438 [DAT](INFO): DAT read: user:260>

2025-10-25T04:00:29.439Z,1761364829.439 [DAT](INFO): DAT read: Tx time:04:00:29.0220

2025-10-25T04:00:29.439Z,1761364829.439 [DAT](INFO): Ping request sent.
2025-10-25T04:00:29.439Z,1761364829.439 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:29.439Z,1761364829.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:29.440Z,1761364829.440 [DAT](INFO): direction in FSK: [0.998198,0.034858,-0.048850]
2025-10-25T04:00:29.453Z,1761364829.453 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:29.453Z,1761364829.453 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:29.456Z,1761364829.456 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:29.465Z,1761364829.465 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:29.678Z,1761364829.678 [DAT](INFO): DAT read: TxSync time:04:00:29.0212

2025-10-25T04:00:29.719Z,1761364829.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890621,0.454608,-0.011180],[-0.453170,0.885223,-0.104963],[-0.037821,0.098549,0.994413]]
2025-10-25T04:00:29.820Z,1761364829.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.800003 m,
      deltaT: 3.780259 s,
      deltaX: -2.099991 m,
      approachRate: -0.555515 m/s,
      rangeRepo size: 4

2025-10-25T04:00:29.842Z,1761364829.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.753891 m,
      bearing: 335.303789 deg,
      lat: 36.779433 deg,
      lon: -121.859742 deg,
      deltaT: 3.780259 s,
      deltaX: -2.090378 m,
      approachRate: -0.552972 m/s,
      posRepo size: 4

2025-10-25T04:00:29.842Z,1761364829.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:29.857Z,1761364829.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 200.362244 m,
      bearing: 333.876922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001522 deg/s,
      cmd heading: 332.656796 deg,
      new cmd heading: 332.658974 deg.

2025-10-25T04:00:29.858Z,1761364829.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805995 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:29.910Z,1761364829.910 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:00:30.150Z,1761364830.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890145,0.455641,-0.005659],[-0.454174,0.886133,-0.092162],[-0.036978,0.084608,0.995728]]
2025-10-25T04:00:30.170Z,1761364830.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:30.173Z,1761364830.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 200.158936 m,
      bearing: 333.877771 deg,
      approach rate: -0.580509 m/s,
      LOS rate: 0.002425 deg/s,
      cmd heading: 332.658981 deg,
      new cmd heading: 332.661529 deg.

2025-10-25T04:00:30.174Z,1761364830.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806039 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:30.612Z,1761364830.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:30.649Z,1761364830.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:30.660Z,1761364830.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 199.934128 m,
      bearing: 333.878711 deg,
      approach rate: -0.473970 m/s,
      LOS rate: 0.001985 deg/s,
      cmd heading: 332.661522 deg,
      new cmd heading: 332.664346 deg.

2025-10-25T04:00:30.671Z,1761364830.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806088 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:30.685Z,1761364830.685 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:30.685Z,1761364830.685 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:30.686Z,1761364830.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:30.913Z,1761364830.913 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:00:30.938Z,1761364830.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498629
2025-10-25T04:00:30.945Z,1761364830.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890891,0.454147,-0.008002],[-0.452634,0.886177,-0.099059],[-0.037896,0.091873,0.995049]]
2025-10-25T04:00:31.003Z,1761364831.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:31.022Z,1761364831.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 199.723740 m,
      bearing: 333.880538 deg,
      approach rate: -0.585953 m/s,
      LOS rate: 0.005093 deg/s,
      cmd heading: 332.664336 deg,
      new cmd heading: 332.669822 deg.

2025-10-25T04:00:31.023Z,1761364831.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806184 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:31.189Z,1761364831.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750445
2025-10-25T04:00:31.346Z,1761364831.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892132,0.451714,-0.007448],[-0.450026,0.887108,-0.102546],[-0.039714,0.094836,0.994700]]
2025-10-25T04:00:31.378Z,1761364831.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:31.382Z,1761364831.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 199.531601 m,
      bearing: 333.882047 deg,
      approach rate: -0.512706 m/s,
      LOS rate: 0.004031 deg/s,
      cmd heading: 332.669828 deg,
      new cmd heading: 332.674360 deg.

2025-10-25T04:00:31.383Z,1761364831.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806263 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:31.442Z,1761364831.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003227
2025-10-25T04:00:31.694Z,1761364831.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254493
2025-10-25T04:00:31.752Z,1761364831.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893264,0.449483,-0.006705],[-0.447612,0.887969,-0.105613],[-0.041518,0.097342,0.994385]]
2025-10-25T04:00:31.807Z,1761364831.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:31.819Z,1761364831.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 199.310486 m,
      bearing: 333.883463 deg,
      approach rate: -0.515317 m/s,
      LOS rate: 0.003303 deg/s,
      cmd heading: 332.674363 deg,
      new cmd heading: 332.678615 deg.

2025-10-25T04:00:31.825Z,1761364831.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806337 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:31.946Z,1761364831.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507159
2025-10-25T04:00:32.187Z,1761364832.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:32.190Z,1761364832.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 199.099579 m,
      bearing: 333.884816 deg,
      approach rate: -0.555295 m/s,
      LOS rate: 0.003567 deg/s,
      cmd heading: 332.678625 deg,
      new cmd heading: 332.682690 deg.

2025-10-25T04:00:32.190Z,1761364832.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806408 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:32.199Z,1761364832.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759774
2025-10-25T04:00:32.450Z,1761364832.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010657
2025-10-25T04:00:32.556Z,1761364832.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893715,0.448604,-0.005285],[-0.446458,0.888156,-0.108883],[-0.044152,0.099670,0.994041]]
2025-10-25T04:00:32.588Z,1761364832.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:32.591Z,1761364832.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 198.889984 m,
      bearing: 333.886088 deg,
      approach rate: -0.522380 m/s,
      LOS rate: 0.003172 deg/s,
      cmd heading: 332.682696 deg,
      new cmd heading: 332.686514 deg.

2025-10-25T04:00:32.592Z,1761364832.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806475 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:32.702Z,1761364832.702 [DAT](INFO): DAT read: Rx Time:04:00:31.7212

2025-10-25T04:00:32.703Z,1761364832.703 [DAT](INFO): Rx dataTimestamp_ set to:1761364832.702678
2025-10-25T04:00:32.704Z,1761364832.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264849
2025-10-25T04:00:32.953Z,1761364832.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514373
2025-10-25T04:00:32.959Z,1761364832.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893169,0.449698,-0.004638],[-0.447458,0.887590,-0.109384],[-0.045073,0.099774,0.993989]]
2025-10-25T04:00:33.009Z,1761364833.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:33.011Z,1761364833.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.75 m.
2025-10-25T04:00:33.023Z,1761364833.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.753891 m,
      nav range: 198.659103 m,
      bearing: 333.889605 deg,
      approach rate: -0.545210 m/s,
      LOS rate: 0.008315 deg/s,
      cmd heading: 332.686521 deg,
      new cmd heading: 332.697084 deg.

2025-10-25T04:00:33.024Z,1761364833.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806660 target range: 222.753891 and range: 223.80 m.
2025-10-25T04:00:33.211Z,1761364833.211 [DAT](INFO): DAT read: 04:00:31.7212 LVL= 20272, 28705, 18706, 29907, AGC= 63, IDX= 409,-0.38,-2.133, 2.806,-2.166,-2.423, PHS= 0.378,-1.007, 0.254, RAW= 145.4,   5.7, CAL= 147.8,  -2.8, ROT=   2.2,   2.8

2025-10-25T04:00:33.213Z,1761364833.213 [DAT](INFO): got valid direction response:
 04:00:31.7212 LVL= 20272, 28705, 18706, 29907, AGC= 63, IDX= 409,-0.38,-2.133, 2.806,-2.166,-2.423, PHS= 0.378,-1.007, 0.254, RAW= 145.4,   5.7, CAL= 147.8,  -2.8, ROT=   2.2,   2.8

2025-10-25T04:00:33.215Z,1761364833.215 [DAT](INFO): DAT read: Bearing   2.2,   2.8 (Local)

2025-10-25T04:00:33.215Z,1761364833.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,   2.8 (Local)

2025-10-25T04:00:33.217Z,1761364833.217 [DAT](INFO): DAT read: Range 10 to 50 : 221.2 m  (Round-trip  295.0 ms) speed  0.0 m/s

2025-10-25T04:00:33.217Z,1761364833.217 [DAT](INFO): DAT read: user:261>

2025-10-25T04:00:33.218Z,1761364833.218 [DAT](INFO): DAT read: Tx time:04:00:32.8221

2025-10-25T04:00:33.218Z,1761364833.218 [DAT](INFO): Ping request sent.
2025-10-25T04:00:33.219Z,1761364833.219 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:33.219Z,1761364833.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:33.220Z,1761364833.220 [DAT](INFO): direction in FSK: [0.998070,0.038342,-0.048850]
2025-10-25T04:00:33.220Z,1761364833.220 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:33.220Z,1761364833.220 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:33.223Z,1761364833.223 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:33.224Z,1761364833.224 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:33.365Z,1761364833.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892612,0.450806,-0.004271],[-0.448512,0.887032,-0.109598],[-0.045619,0.099744,0.993967]]
2025-10-25T04:00:33.429Z,1761364833.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.199997 m,
      deltaT: 3.779827 s,
      deltaX: -2.600006 m,
      approachRate: -0.687864 m/s,
      rangeRepo size: 4

2025-10-25T04:00:33.432Z,1761364833.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.165604 m,
      bearing: 335.797950 deg,
      lat: 36.779433 deg,
      lon: -121.859770 deg,
      deltaT: 3.779827 s,
      deltaX: -2.588287 m,
      approachRate: -0.684763 m/s,
      posRepo size: 4

2025-10-25T04:00:33.437Z,1761364833.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:33.439Z,1761364833.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 199.587112 m,
      bearing: 333.232643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008315 deg/s,
      cmd heading: 332.697094 deg,
      new cmd heading: 332.707379 deg.

2025-10-25T04:00:33.445Z,1761364833.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806839 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:33.458Z,1761364833.458 [DAT](INFO): DAT read: TxSync time:04:00:32.8213

2025-10-25T04:00:33.763Z,1761364833.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891214,0.453559,-0.004646],[-0.451359,0.885785,-0.107983],[-0.044861,0.098333,0.994142]]
2025-10-25T04:00:33.829Z,1761364833.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:33.837Z,1761364833.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 199.374481 m,
      bearing: 333.234539 deg,
      approach rate: -0.535425 m/s,
      LOS rate: 0.004779 deg/s,
      cmd heading: 332.707366 deg,
      new cmd heading: 332.713060 deg.

2025-10-25T04:00:33.838Z,1761364833.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806938 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:34.170Z,1761364834.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890209,0.455552,-0.000060],[-0.453354,0.885901,-0.098233],[-0.044697,0.087475,0.995163]]
2025-10-25T04:00:34.201Z,1761364834.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:34.204Z,1761364834.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 199.157181 m,
      bearing: 333.236634 deg,
      approach rate: -0.570918 m/s,
      LOS rate: 0.005510 deg/s,
      cmd heading: 332.713049 deg,
      new cmd heading: 332.719340 deg.

2025-10-25T04:00:34.205Z,1761364834.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807048 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:34.677Z,1761364834.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:34.701Z,1761364834.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 198.934296 m,
      bearing: 333.238787 deg,
      approach rate: -0.478536 m/s,
      LOS rate: 0.004628 deg/s,
      cmd heading: 332.719333 deg,
      new cmd heading: 332.725800 deg.

2025-10-25T04:00:34.702Z,1761364834.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807161 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:35.003Z,1761364835.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891341,0.453334,-0.000516],[-0.451026,0.886687,-0.101797],[-0.045690,0.090969,0.994805]]
2025-10-25T04:00:35.057Z,1761364835.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:35.059Z,1761364835.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:35.063Z,1761364835.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 198.694412 m,
      bearing: 333.242454 deg,
      approach rate: -0.611442 m/s,
      LOS rate: 0.009358 deg/s,
      cmd heading: 332.725808 deg,
      new cmd heading: 332.736822 deg.

2025-10-25T04:00:35.069Z,1761364835.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807353 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:35.221Z,1761364835.221 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:35.221Z,1761364835.221 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:35.222Z,1761364835.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:35.399Z,1761364835.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891180,0.453650,0.000030],[-0.451204,0.886381,-0.103650],[-0.047047,0.092357,0.994614]]
2025-10-25T04:00:35.435Z,1761364835.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:35.442Z,1761364835.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 198.487656 m,
      bearing: 333.245635 deg,
      approach rate: -0.550176 m/s,
      LOS rate: 0.008473 deg/s,
      cmd heading: 332.736818 deg,
      new cmd heading: 332.746371 deg.

2025-10-25T04:00:35.443Z,1761364835.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807520 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:35.474Z,1761364835.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255207
2025-10-25T04:00:35.727Z,1761364835.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508526
2025-10-25T04:00:35.860Z,1761364835.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:35.863Z,1761364835.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 198.246902 m,
      bearing: 333.246970 deg,
      approach rate: -0.567216 m/s,
      LOS rate: 0.003149 deg/s,
      cmd heading: 332.746380 deg,
      new cmd heading: 332.750390 deg.

2025-10-25T04:00:35.866Z,1761364835.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807590 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:35.978Z,1761364835.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759040
2025-10-25T04:00:36.206Z,1761364836.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890590,0.454808,-0.000152],[-0.452200,0.885446,-0.107243],[-0.048640,0.095578,0.994233]]
2025-10-25T04:00:36.230Z,1761364836.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010910
2025-10-25T04:00:36.246Z,1761364836.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:36.254Z,1761364836.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 198.047546 m,
      bearing: 333.248146 deg,
      approach rate: -0.516142 m/s,
      LOS rate: 0.003049 deg/s,
      cmd heading: 332.750397 deg,
      new cmd heading: 332.753929 deg.

2025-10-25T04:00:36.255Z,1761364836.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807652 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:36.485Z,1761364836.485 [DAT](INFO): DAT read: Rx Time:04:00:35.5197

2025-10-25T04:00:36.485Z,1761364836.485 [DAT](INFO): Rx dataTimestamp_ set to:1761364836.484763
2025-10-25T04:00:36.486Z,1761364836.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267025
2025-10-25T04:00:36.613Z,1761364836.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890102,0.455761,-0.000002],[-0.453075,0.884855,-0.108420],[-0.049412,0.096506,0.994105]]
2025-10-25T04:00:36.631Z,1761364836.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.17 m.
2025-10-25T04:00:36.634Z,1761364836.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.165604 m,
      nav range: 197.826889 m,
      bearing: 333.249516 deg,
      approach rate: -0.573210 m/s,
      LOS rate: 0.003562 deg/s,
      cmd heading: 332.753921 deg,
      new cmd heading: 332.758034 deg.

2025-10-25T04:00:36.635Z,1761364836.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807724 target range: 220.165604 and range: 221.20 m.
2025-10-25T04:00:36.734Z,1761364836.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515036
2025-10-25T04:00:37.016Z,1761364837.016 [DAT](INFO): DAT read: 04:00:35.5197 LVL= 26144, 28129, 24178, 32755, AGC= 62, IDX= 425,-0.18,-2.913, 1.899,-2.988, 3.104, PHS= 0.354,-1.158, 0.189, RAW= 144.3,   8.6, CAL= 146.5,   0.6, ROT=   3.5,  -0.6

2025-10-25T04:00:37.021Z,1761364837.021 [DAT](INFO): got valid direction response:
 04:00:35.5197 LVL= 26144, 28129, 24178, 32755, AGC= 62, IDX= 425,-0.18,-2.913, 1.899,-2.988, 3.104, PHS= 0.354,-1.158, 0.189, RAW= 144.3,   8.6, CAL= 146.5,   0.6, ROT=   3.5,  -0.6

2025-10-25T04:00:37.022Z,1761364837.022 [DAT](INFO): DAT read: Bearing   3.5,  -0.6 (Local)

2025-10-25T04:00:37.022Z,1761364837.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  -0.6 (Local)

2025-10-25T04:00:37.024Z,1761364837.024 [DAT](INFO): DAT read: Range 10 to 50 : 220.0 m  (Round-trip  293.4 ms) speed  0.6 m/s

2025-10-25T04:00:37.033Z,1761364837.033 [DAT](INFO): DAT read: user:262>

2025-10-25T04:00:37.034Z,1761364837.034 [DAT](INFO): DAT read: Tx time:04:00:36.6221

2025-10-25T04:00:37.034Z,1761364837.034 [DAT](INFO): Ping request sent.
2025-10-25T04:00:37.034Z,1761364837.034 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:37.034Z,1761364837.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:37.035Z,1761364837.035 [DAT](INFO): direction in FSK: [0.998080,0.061045,0.010472]
2025-10-25T04:00:37.035Z,1761364837.035 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:37.042Z,1761364837.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889670,0.456605,0.000225],[-0.453857,0.884369,-0.109109],[-0.050018,0.096969,0.994030]]
2025-10-25T04:00:37.043Z,1761364837.043 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:37.055Z,1761364837.055 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:37.055Z,1761364837.055 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:37.234Z,1761364837.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 220.000000 m,
      deltaT: 3.781507 s,
      deltaX: -1.199997 m,
      approachRate: -0.317333 m/s,
      rangeRepo size: 4

2025-10-25T04:00:37.236Z,1761364837.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 218.970932 m,
      bearing: 336.398854 deg,
      lat: 36.779629 deg,
      lon: -121.859770 deg,
      deltaT: 3.781507 s,
      deltaX: -1.194672 m,
      approachRate: -0.315925 m/s,
      posRepo size: 4

2025-10-25T04:00:37.238Z,1761364837.238 [DAT](INFO): DAT read: TxSync time:04:00:36.6213

2025-10-25T04:00:37.241Z,1761364837.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:37.244Z,1761364837.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 217.194641 m,
      bearing: 335.836878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003562 deg/s,
      cmd heading: 332.758046 deg,
      new cmd heading: 332.764386 deg.

2025-10-25T04:00:37.250Z,1761364837.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807834 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:37.531Z,1761364837.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889092,0.457729,0.000487],[-0.454935,0.883782,-0.109381],[-0.050498,0.097028,0.994000]]
2025-10-25T04:00:37.550Z,1761364837.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:37.552Z,1761364837.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:37.554Z,1761364837.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 217.006409 m,
      bearing: 335.838766 deg,
      approach rate: -0.574887 m/s,
      LOS rate: 0.005772 deg/s,
      cmd heading: 332.764385 deg,
      new cmd heading: 332.770055 deg.

2025-10-25T04:00:37.555Z,1761364837.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807933 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:37.741Z,1761364837.741 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:37.741Z,1761364837.741 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:37.742Z,1761364837.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:37.987Z,1761364837.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:37.990Z,1761364837.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 216.779114 m,
      bearing: 335.838150 deg,
      approach rate: -0.521887 m/s,
      LOS rate: -0.001417 deg/s,
      cmd heading: 332.770068 deg,
      new cmd heading: 332.768216 deg.

2025-10-25T04:00:37.991Z,1761364837.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807901 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:37.995Z,1761364837.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960628
2025-10-25T04:00:38.245Z,1761364838.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211449
2025-10-25T04:00:38.337Z,1761364838.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888898,0.458103,0.001023],[-0.455540,0.884156,-0.103690],[-0.048405,0.091704,0.994609]]
2025-10-25T04:00:38.358Z,1761364838.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:38.361Z,1761364838.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 216.585693 m,
      bearing: 335.837645 deg,
      approach rate: -0.521602 m/s,
      LOS rate: -0.001364 deg/s,
      cmd heading: 332.768210 deg,
      new cmd heading: 332.766693 deg.

2025-10-25T04:00:38.362Z,1761364838.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807874 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:38.498Z,1761364838.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464111
2025-10-25T04:00:38.753Z,1761364838.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718327
2025-10-25T04:00:38.772Z,1761364838.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889528,0.456880,0.000273],[-0.454316,0.884599,-0.105266],[-0.048335,0.093513,0.994444]]
2025-10-25T04:00:38.839Z,1761364838.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:38.850Z,1761364838.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 216.361374 m,
      bearing: 335.836270 deg,
      approach rate: -0.466110 m/s,
      LOS rate: -0.002859 deg/s,
      cmd heading: 332.766680 deg,
      new cmd heading: 332.762551 deg.

2025-10-25T04:00:38.851Z,1761364838.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807802 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:39.002Z,1761364839.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967726
2025-10-25T04:00:39.172Z,1761364839.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890277,0.455418,0.001332],[-0.452659,0.885197,-0.107359],[-0.050073,0.094976,0.994219]]
2025-10-25T04:00:39.228Z,1761364839.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:39.235Z,1761364839.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 216.169327 m,
      bearing: 335.835001 deg,
      approach rate: -0.494392 m/s,
      LOS rate: -0.003269 deg/s,
      cmd heading: 332.762554 deg,
      new cmd heading: 332.758745 deg.

2025-10-25T04:00:39.235Z,1761364839.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807736 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:39.254Z,1761364839.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219802
2025-10-25T04:00:39.506Z,1761364839.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471622
2025-10-25T04:00:39.558Z,1761364839.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890675,0.454638,0.001421],[-0.451772,0.885403,-0.109381],[-0.050987,0.096781,0.993999]]
2025-10-25T04:00:39.575Z,1761364839.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:39.578Z,1761364839.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:39.581Z,1761364839.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 215.985184 m,
      bearing: 335.833739 deg,
      approach rate: -0.526284 m/s,
      LOS rate: -0.003611 deg/s,
      cmd heading: 332.758757 deg,
      new cmd heading: 332.754966 deg.

2025-10-25T04:00:39.582Z,1761364839.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807670 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:39.758Z,1761364839.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723607
2025-10-25T04:00:39.957Z,1761364839.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890883,0.454228,0.001798],[-0.451294,0.885564,-0.110049],[-0.051580,0.097229,0.993924]]
2025-10-25T04:00:39.994Z,1761364839.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:39.998Z,1761364839.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 215.782593 m,
      bearing: 335.830098 deg,
      approach rate: -0.486081 m/s,
      LOS rate: -0.008744 deg/s,
      cmd heading: 332.754959 deg,
      new cmd heading: 332.744026 deg.

2025-10-25T04:00:39.999Z,1761364839.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807479 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:40.014Z,1761364840.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978971
2025-10-25T04:00:40.263Z,1761364840.263 [DAT](INFO): DAT read: Rx Time:04:00:39.3174

2025-10-25T04:00:40.264Z,1761364840.264 [DAT](INFO): Rx dataTimestamp_ set to:1761364840.263185
2025-10-25T04:00:40.265Z,1761364840.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230405
2025-10-25T04:00:40.357Z,1761364840.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890821,0.454348,0.002392],[-0.451337,0.885497,-0.110408],[-0.052282,0.097275,0.993883]]
2025-10-25T04:00:40.395Z,1761364840.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:40.402Z,1761364840.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 215.597061 m,
      bearing: 335.826761 deg,
      approach rate: -0.463436 m/s,
      LOS rate: -0.008343 deg/s,
      cmd heading: 332.744031 deg,
      new cmd heading: 332.734011 deg.

2025-10-25T04:00:40.404Z,1761364840.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807304 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:40.515Z,1761364840.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480491
2025-10-25T04:00:40.770Z,1761364840.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735404
2025-10-25T04:00:40.823Z,1761364840.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891184,0.453634,0.002687],[-0.450461,0.885620,-0.112971],[-0.053627,0.099467,0.993595]]
2025-10-25T04:00:40.881Z,1761364840.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.97 m.
2025-10-25T04:00:40.884Z,1761364840.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.970932 m,
      nav range: 215.348801 m,
      bearing: 335.822679 deg,
      approach rate: -0.510984 m/s,
      LOS rate: -0.008411 deg/s,
      cmd heading: 332.734004 deg,
      new cmd heading: 332.721745 deg.

2025-10-25T04:00:40.885Z,1761364840.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807090 target range: 218.970932 and range: 220.00 m.
2025-10-25T04:00:41.024Z,1761364841.024 [DAT](INFO): DAT read: 04:00:39.3174 LVL= 23616, 32753, 21346, 32755, AGC= 64, IDX= 417, 0.46,-2.961, 2.009,-3.044, 3.015, PHS= 0.395,-0.959, 0.221, RAW= 143.2,   5.4, CAL= 146.2,  -2.8, ROT=   3.8,   2.8

2025-10-25T04:00:41.025Z,1761364841.025 [DAT](INFO): got valid direction response:
 04:00:39.3174 LVL= 23616, 32753, 21346, 32755, AGC= 64, IDX= 417, 0.46,-2.961, 2.009,-3.044, 3.015, PHS= 0.395,-0.959, 0.221, RAW= 143.2,   5.4, CAL= 146.2,  -2.8, ROT=   3.8,   2.8

2025-10-25T04:00:41.026Z,1761364841.026 [DAT](INFO): DAT read: Bearing   3.8,   2.8 (Local)

2025-10-25T04:00:41.026Z,1761364841.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,   2.8 (Local)

2025-10-25T04:00:41.028Z,1761364841.028 [DAT](INFO): DAT read: Range 10 to 50 : 218.4 m  (Round-trip  291.2 ms) speed  0.6 m/s

2025-10-25T04:00:41.029Z,1761364841.029 [DAT](INFO): DAT read: user:263>

2025-10-25T04:00:41.031Z,1761364841.031 [DAT](INFO): DAT read: Tx time:04:00:40.4221

2025-10-25T04:00:41.031Z,1761364841.031 [DAT](INFO): Ping request sent.
2025-10-25T04:00:41.031Z,1761364841.031 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:41.032Z,1761364841.032 [DAT](INFO): DAT read: TxSync time:04:00:40.4213

2025-10-25T04:00:41.032Z,1761364841.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:41.054Z,1761364841.054 [DAT](INFO): direction in FSK: [0.996610,0.066195,-0.048850]
2025-10-25T04:00:41.054Z,1761364841.054 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:41.055Z,1761364841.055 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:41.070Z,1761364841.070 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:41.070Z,1761364841.070 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:41.226Z,1761364841.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.399994 m,
      deltaT: 4.030513 s,
      deltaX: -1.600006 m,
      approachRate: -0.396973 m/s,
      rangeRepo size: 4

2025-10-25T04:00:41.228Z,1761364841.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.378281 m,
      bearing: 337.259687 deg,
      lat: 36.779629 deg,
      lon: -121.859756 deg,
      deltaT: 4.030513 s,
      deltaX: -1.592651 m,
      approachRate: -0.395149 m/s,
      posRepo size: 4

2025-10-25T04:00:41.237Z,1761364841.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:41.240Z,1761364841.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 214.670868 m,
      bearing: 336.134447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008411 deg/s,
      cmd heading: 332.721737 deg,
      new cmd heading: 332.713042 deg.

2025-10-25T04:00:41.245Z,1761364841.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806938 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:41.570Z,1761364841.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890967,0.454058,0.002933],[-0.450900,0.885495,-0.112194],[-0.053540,0.098639,0.993682]]
2025-10-25T04:00:41.593Z,1761364841.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:41.595Z,1761364841.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:41.600Z,1761364841.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 214.479462 m,
      bearing: 336.131588 deg,
      approach rate: -0.516828 m/s,
      LOS rate: -0.007728 deg/s,
      cmd heading: 332.713049 deg,
      new cmd heading: 332.704463 deg.

2025-10-25T04:00:41.601Z,1761364841.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806788 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:41.776Z,1761364841.776 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:41.776Z,1761364841.776 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:41.777Z,1761364841.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:41.975Z,1761364841.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890635,0.454711,0.002572],[-0.451653,0.885272,-0.110918],[-0.052712,0.097626,0.993826]]
2025-10-25T04:00:42.026Z,1761364842.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994657
2025-10-25T04:00:42.049Z,1761364842.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:42.051Z,1761364842.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 214.265823 m,
      bearing: 336.129891 deg,
      approach rate: -0.475746 m/s,
      LOS rate: -0.003782 deg/s,
      cmd heading: 332.704470 deg,
      new cmd heading: 332.699375 deg.

2025-10-25T04:00:42.057Z,1761364842.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806699 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:42.279Z,1761364842.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247451
2025-10-25T04:00:42.384Z,1761364842.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890386,0.455199,0.002723],[-0.452121,0.885028,-0.110959],[-0.052918,0.097566,0.993821]]
2025-10-25T04:00:42.429Z,1761364842.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:42.434Z,1761364842.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 214.080490 m,
      bearing: 336.128442 deg,
      approach rate: -0.481738 m/s,
      LOS rate: -0.003769 deg/s,
      cmd heading: 332.699361 deg,
      new cmd heading: 332.695012 deg.

2025-10-25T04:00:42.435Z,1761364842.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806623 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:42.529Z,1761364842.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498423
2025-10-25T04:00:42.785Z,1761364842.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753622
2025-10-25T04:00:42.909Z,1761364842.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:42.912Z,1761364842.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 213.821640 m,
      bearing: 336.131181 deg,
      approach rate: -0.540363 m/s,
      LOS rate: 0.005723 deg/s,
      cmd heading: 332.695017 deg,
      new cmd heading: 332.703242 deg.

2025-10-25T04:00:42.929Z,1761364842.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806767 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:43.034Z,1761364843.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003050
2025-10-25T04:00:43.238Z,1761364843.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:43.240Z,1761364843.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 213.654160 m,
      bearing: 336.132956 deg,
      approach rate: -0.508646 m/s,
      LOS rate: 0.005396 deg/s,
      cmd heading: 332.703241 deg,
      new cmd heading: 332.708571 deg.

2025-10-25T04:00:43.241Z,1761364843.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806860 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:43.286Z,1761364843.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255321
2025-10-25T04:00:43.538Z,1761364843.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084
2025-10-25T04:00:43.621Z,1761364843.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890408,0.455120,0.006316],[-0.451554,0.885005,-0.113428],[-0.057213,0.098145,0.993526]]
2025-10-25T04:00:43.683Z,1761364843.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:43.686Z,1761364843.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:43.689Z,1761364843.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 213.436020 m,
      bearing: 336.135240 deg,
      approach rate: -0.486846 m/s,
      LOS rate: 0.005104 deg/s,
      cmd heading: 332.708569 deg,
      new cmd heading: 332.715429 deg.

2025-10-25T04:00:43.690Z,1761364843.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806980 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:43.794Z,1761364843.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762280
2025-10-25T04:00:44.008Z,1761364844.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889791,0.456320,0.006692],[-0.452742,0.884470,-0.112860],[-0.057419,0.097391,0.993588]]
2025-10-25T04:00:44.042Z,1761364844.042 [DAT](INFO): DAT read: Rx Time:04:00:43.1398

2025-10-25T04:00:44.042Z,1761364844.042 [DAT](INFO): Rx dataTimestamp_ set to:1761364844.041773
2025-10-25T04:00:44.043Z,1761364844.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011633
2025-10-25T04:00:44.079Z,1761364844.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:44.087Z,1761364844.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 213.213608 m,
      bearing: 336.141007 deg,
      approach rate: -0.565563 m/s,
      LOS rate: 0.014679 deg/s,
      cmd heading: 332.715426 deg,
      new cmd heading: 332.732744 deg.

2025-10-25T04:00:44.088Z,1761364844.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807282 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:44.297Z,1761364844.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265866
2025-10-25T04:00:44.408Z,1761364844.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889047,0.457757,0.007412],[-0.454188,0.883918,-0.111365],[-0.057530,0.095642,0.993752]]
2025-10-25T04:00:44.428Z,1761364844.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:44.432Z,1761364844.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 213.022675 m,
      bearing: 336.146056 deg,
      approach rate: -0.547046 m/s,
      LOS rate: 0.014478 deg/s,
      cmd heading: 332.732747 deg,
      new cmd heading: 332.747907 deg.

2025-10-25T04:00:44.434Z,1761364844.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807547 target range: 217.378281 and range: 218.40 m.
2025-10-25T04:00:44.547Z,1761364844.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515580
2025-10-25T04:00:44.810Z,1761364844.810 [DAT](INFO): DAT read: Range 10 to 50 : 235.0 m  (Round-trip  313.4 ms) speed  0.1 m/s

2025-10-25T04:00:44.813Z,1761364844.813 [DAT](INFO): DAT read: user:264>

2025-10-25T04:00:44.829Z,1761364844.829 [DAT](INFO): DAT read: Tx time:04:00:44.2222

2025-10-25T04:00:44.830Z,1761364844.830 [DAT](INFO): Ping request sent.
2025-10-25T04:00:44.831Z,1761364844.831 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:44.841Z,1761364844.841 [DAT](INFO): DAT read: TxSync time:04:00:44.2214

2025-10-25T04:00:44.843Z,1761364844.843 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:00:44.843Z,1761364844.843 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:44.857Z,1761364844.857 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:44.890Z,1761364844.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888475,0.458867,0.007334],[-0.455298,0.883343,-0.111395],[-0.057594,0.095633,0.993749]]
2025-10-25T04:00:44.991Z,1761364844.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 235.000000 m,
      deltaT: 3.781910 s,
      deltaX: 16.600006 m,
      approachRate: 4.389318 m/s,
      rangeRepo size: 4

2025-10-25T04:00:44.992Z,1761364844.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:44.999Z,1761364844.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 212.713699 m,
      bearing: 336.158632 deg,
      approach rate: -0.549180 m/s,
      LOS rate: 0.022387 deg/s,
      cmd heading: 332.747910 deg,
      new cmd heading: 332.785695 deg.

2025-10-25T04:00:45.000Z,1761364845.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808206 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:45.267Z,1761364845.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887333,0.461092,0.005910],[-0.457664,0.882158,-0.111088],[-0.056435,0.095868,0.993793]]
2025-10-25T04:00:45.315Z,1761364845.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:45.322Z,1761364845.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 212.529266 m,
      bearing: 336.166290 deg,
      approach rate: -0.568807 m/s,
      LOS rate: 0.023638 deg/s,
      cmd heading: 332.785695 deg,
      new cmd heading: 332.808688 deg.

2025-10-25T04:00:45.323Z,1761364845.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808608 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:45.668Z,1761364845.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886011,0.463640,0.004705],[-0.460289,0.880739,-0.111501],[-0.055840,0.096625,0.993753]]
2025-10-25T04:00:45.690Z,1761364845.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:45.692Z,1761364845.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:45.695Z,1761364845.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 212.296860 m,
      bearing: 336.176145 deg,
      approach rate: -0.616267 m/s,
      LOS rate: 0.026161 deg/s,
      cmd heading: 332.808699 deg,
      new cmd heading: 332.838297 deg.

2025-10-25T04:00:45.696Z,1761364845.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809124 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:45.808Z,1761364845.808 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:45.809Z,1761364845.809 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:45.810Z,1761364845.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:46.058Z,1761364846.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227452
2025-10-25T04:00:46.079Z,1761364846.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885397,0.464824,0.003262],[-0.461647,0.880122,-0.110761],[-0.054355,0.096562,0.993842]]
2025-10-25T04:00:46.142Z,1761364846.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:46.149Z,1761364846.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 212.043884 m,
      bearing: 336.189838 deg,
      approach rate: -0.562263 m/s,
      LOS rate: 0.030470 deg/s,
      cmd heading: 332.838287 deg,
      new cmd heading: 332.879415 deg.

2025-10-25T04:00:46.150Z,1761364846.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809842 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:46.311Z,1761364846.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480407
2025-10-25T04:00:46.482Z,1761364846.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885143,0.465302,0.003931],[-0.462074,0.879935,-0.110461],[-0.054857,0.095958,0.993873]]
2025-10-25T04:00:46.502Z,1761364846.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:46.505Z,1761364846.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 211.824112 m,
      bearing: 336.201793 deg,
      approach rate: -0.610740 m/s,
      LOS rate: 0.033258 deg/s,
      cmd heading: 332.879405 deg,
      new cmd heading: 332.915308 deg.

2025-10-25T04:00:46.506Z,1761364846.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810468 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:46.563Z,1761364846.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732627
2025-10-25T04:00:46.817Z,1761364846.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985988
2025-10-25T04:00:46.895Z,1761364846.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884530,0.466465,0.004077],[-0.463189,0.879288,-0.110946],[-0.055338,0.096247,0.993818]]
2025-10-25T04:00:46.960Z,1761364846.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:46.963Z,1761364846.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 211.561646 m,
      bearing: 336.215381 deg,
      approach rate: -0.573013 m/s,
      LOS rate: 0.029701 deg/s,
      cmd heading: 332.915305 deg,
      new cmd heading: 332.956118 deg.

2025-10-25T04:00:46.965Z,1761364846.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811181 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:47.067Z,1761364847.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236596
2025-10-25T04:00:47.291Z,1761364847.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884395,0.466726,0.003412],[-0.463441,0.878991,-0.112239],[-0.055384,0.097682,0.993675]]
2025-10-25T04:00:47.318Z,1761364847.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487593
2025-10-25T04:00:47.320Z,1761364847.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:47.343Z,1761364847.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 211.346939 m,
      bearing: 336.226536 deg,
      approach rate: -0.595517 m/s,
      LOS rate: 0.030972 deg/s,
      cmd heading: 332.956122 deg,
      new cmd heading: 332.989622 deg.

2025-10-25T04:00:47.344Z,1761364847.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811765 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:47.570Z,1761364847.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740009
2025-10-25T04:00:47.690Z,1761364847.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883898,0.467672,0.002728],[-0.464402,0.878377,-0.113072],[-0.055277,0.098677,0.993583]]
2025-10-25T04:00:47.708Z,1761364847.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:47.710Z,1761364847.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:47.714Z,1761364847.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 211.115967 m,
      bearing: 336.238631 deg,
      approach rate: -0.592635 m/s,
      LOS rate: 0.031067 deg/s,
      cmd heading: 332.989617 deg,
      new cmd heading: 333.025941 deg.

2025-10-25T04:00:47.715Z,1761364847.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812399 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:47.825Z,1761364847.825 [DAT](INFO): DAT read: Rx Time:04:00:46.9125

2025-10-25T04:00:47.827Z,1761364847.827 [DAT](INFO): Rx dataTimestamp_ set to:1761364847.826138
2025-10-25T04:00:47.830Z,1761364847.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998079
2025-10-25T04:00:48.074Z,1761364848.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243627
2025-10-25T04:00:48.097Z,1761364848.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884260,0.466990,0.002155],[-0.463696,0.878552,-0.114596],[-0.055409,0.100334,0.993410]]
2025-10-25T04:00:48.163Z,1761364848.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:48.169Z,1761364848.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 210.858719 m,
      bearing: 336.251161 deg,
      approach rate: -0.568121 m/s,
      LOS rate: 0.027707 deg/s,
      cmd heading: 333.025954 deg,
      new cmd heading: 333.063592 deg.

2025-10-25T04:00:48.172Z,1761364848.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813056 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:48.326Z,1761364848.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495959
2025-10-25T04:00:48.586Z,1761364848.586 [DAT](INFO): DAT read: 04:00:46.9125 LVL= 17440, 21233, 17122, 19091, AGC= 63, IDX= 152, 0.40,-2.829, 2.314,-2.757, 2.753, PHS= 0.788,-0.392, 0.770, RAW= 149.2, -19.4, CAL= 154.7, -26.5, ROT= 355.3,  26.5

2025-10-25T04:00:48.590Z,1761364848.590 [DAT](INFO): got valid direction response:
 04:00:46.9125 LVL= 17440, 21233, 17122, 19091, AGC= 63, IDX= 152, 0.40,-2.829, 2.314,-2.757, 2.753, PHS= 0.788,-0.392, 0.770, RAW= 149.2, -19.4, CAL= 154.7, -26.5, ROT= 355.3,  26.5

2025-10-25T04:00:48.591Z,1761364848.591 [DAT](INFO): DAT read: Bearing 355.3,  26.5 (Local)

2025-10-25T04:00:48.591Z,1761364848.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  26.5 (Local)

2025-10-25T04:00:48.594Z,1761364848.594 [DAT](INFO): DAT read: Range 10 to 50 : 214.6 m  (Round-trip  286.2 ms) speed  0.4 m/s

2025-10-25T04:00:48.595Z,1761364848.595 [DAT](INFO): DAT read: user:265>

2025-10-25T04:00:48.596Z,1761364848.596 [DAT](INFO): DAT read: Tx time:04:00:48.0222

2025-10-25T04:00:48.596Z,1761364848.596 [DAT](INFO): Ping request sent.
2025-10-25T04:00:48.597Z,1761364848.597 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:48.598Z,1761364848.598 [DAT](INFO): DAT read: TxSync time:04:00:48.0214

2025-10-25T04:00:48.598Z,1761364848.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:48.599Z,1761364848.599 [DAT](INFO): direction in FSK: [0.891925,-0.073330,-0.446198]
2025-10-25T04:00:48.600Z,1761364848.600 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:48.600Z,1761364848.600 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:48.653Z,1761364848.653 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:48.654Z,1761364848.654 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:48.716Z,1761364848.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884643,0.466269,0.000938],[-0.462955,0.878592,-0.117259],[-0.055498,0.103298,0.993101]]
2025-10-25T04:00:48.770Z,1761364848.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 214.600006 m,
 deltaT: 3.778111 s,
 deltaX: -20.399994 m,
 approachRate: -5.399522 m/s,
 rangeRepo size: 4
2025-10-25T04:00:48.770Z,1761364848.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:48.778Z,1761364848.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 210.513794 m,
      bearing: 336.267928 deg,
      approach rate: -0.568841 m/s,
      LOS rate: 0.027697 deg/s,
      cmd heading: 333.063602 deg,
      new cmd heading: 333.113985 deg.

2025-10-25T04:00:48.779Z,1761364848.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813936 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:49.119Z,1761364849.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:49.122Z,1761364849.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 210.307892 m,
      bearing: 336.275442 deg,
      approach rate: -0.588231 m/s,
      LOS rate: 0.021488 deg/s,
      cmd heading: 333.113981 deg,
      new cmd heading: 333.136546 deg.

2025-10-25T04:00:49.123Z,1761364849.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814330 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:49.453Z,1761364849.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884996,0.465551,0.006696],[-0.462440,0.880572,-0.103641],[-0.054147,0.088625,0.994592]]
2025-10-25T04:00:49.473Z,1761364849.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:49.475Z,1761364849.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 210.109634 m,
      bearing: 336.282646 deg,
      approach rate: -0.561416 m/s,
      LOS rate: 0.020417 deg/s,
      cmd heading: 333.136548 deg,
      new cmd heading: 333.158178 deg.

2025-10-25T04:00:49.476Z,1761364849.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814707 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:49.977Z,1761364849.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:49.979Z,1761364849.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:49.982Z,1761364849.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 209.841629 m,
      bearing: 336.287314 deg,
      approach rate: -0.528974 m/s,
      LOS rate: 0.009226 deg/s,
      cmd heading: 333.158186 deg,
      new cmd heading: 333.172209 deg.

2025-10-25T04:00:49.983Z,1761364849.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814952 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:50.089Z,1761364850.089 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:50.089Z,1761364850.089 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:50.090Z,1761364850.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:50.322Z,1761364850.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:50.325Z,1761364850.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 209.661087 m,
      bearing: 336.290466 deg,
      approach rate: -0.525808 m/s,
      LOS rate: 0.009187 deg/s,
      cmd heading: 333.172202 deg,
      new cmd heading: 333.181665 deg.

2025-10-25T04:00:50.326Z,1761364850.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815117 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:50.342Z,1761364850.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745433
2025-10-25T04:00:50.594Z,1761364850.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997417
2025-10-25T04:00:50.682Z,1761364850.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890302,0.455357,0.003476],[-0.451889,0.884413,-0.116664],[-0.056198,0.102295,0.993165]]
2025-10-25T04:00:50.702Z,1761364850.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:50.705Z,1761364850.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 209.461136 m,
      bearing: 336.293345 deg,
      approach rate: -0.527352 m/s,
      LOS rate: 0.007602 deg/s,
      cmd heading: 333.181655 deg,
      new cmd heading: 333.190302 deg.

2025-10-25T04:00:50.706Z,1761364850.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815268 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:50.846Z,1761364850.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249455
2025-10-25T04:00:51.081Z,1761364851.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891557,0.452895,0.003607],[-0.449258,0.885351,-0.119669],[-0.057391,0.105072,0.992807]]
2025-10-25T04:00:51.098Z,1761364851.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501907
2025-10-25T04:00:51.135Z,1761364851.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:51.138Z,1761364851.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 209.247269 m,
      bearing: 336.291606 deg,
      approach rate: -0.493820 m/s,
      LOS rate: -0.004020 deg/s,
      cmd heading: 333.190315 deg,
      new cmd heading: 333.185092 deg.

2025-10-25T04:00:51.138Z,1761364851.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815177 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:51.350Z,1761364851.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753558
2025-10-25T04:00:51.481Z,1761364851.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892544,0.450944,0.003988],[-0.447216,0.886234,-0.120780],[-0.057999,0.106018,0.992671]]
2025-10-25T04:00:51.517Z,1761364851.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:51.520Z,1761364851.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 209.062973 m,
      bearing: 336.289993 deg,
      approach rate: -0.481806 m/s,
      LOS rate: -0.004221 deg/s,
      cmd heading: 333.185097 deg,
      new cmd heading: 333.180253 deg.

2025-10-25T04:00:51.525Z,1761364851.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815093 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:51.602Z,1761364851.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005494
2025-10-25T04:00:51.857Z,1761364851.857 [DAT](INFO): DAT read: Rx Time:04:00:50.7365

2025-10-25T04:00:51.857Z,1761364851.857 [DAT](INFO): Rx dataTimestamp_ set to:1761364851.857184
2025-10-25T04:00:51.858Z,1761364851.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261879
2025-10-25T04:00:51.961Z,1761364851.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892946,0.450138,0.004797],[-0.446294,0.886614,-0.121400],[-0.058899,0.106263,0.992592]]
2025-10-25T04:00:52.012Z,1761364852.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:52.014Z,1761364852.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:52.018Z,1761364852.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 208.823074 m,
      bearing: 336.283300 deg,
      approach rate: -0.482330 m/s,
      LOS rate: -0.013472 deg/s,
      cmd heading: 333.180261 deg,
      new cmd heading: 333.160160 deg.

2025-10-25T04:00:52.019Z,1761364852.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814742 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:52.108Z,1761364852.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511441
2025-10-25T04:00:52.290Z,1761364852.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893296,0.449437,0.005357],[-0.445481,0.886891,-0.122353],[-0.059741,0.106911,0.992472]]
2025-10-25T04:00:52.342Z,1761364852.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.38 m.
2025-10-25T04:00:52.349Z,1761364852.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.378281 m,
      nav range: 208.680405 m,
      bearing: 336.279279 deg,
      approach rate: -0.435489 m/s,
      LOS rate: -0.012280 deg/s,
      cmd heading: 333.160153 deg,
      new cmd heading: 333.148084 deg.

2025-10-25T04:00:52.350Z,1761364852.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814531 target range: 217.378281 and range: 235.00 m.
2025-10-25T04:00:52.365Z,1761364852.365 [DAT](INFO): DAT read: 04:00:50.7365 LVL= 21264, 20337, 16978, 22387, AGC= 66, IDX= 180, 0.12, 0.616,-0.535, 0.685,-0.102, PHS= 0.806,-0.386, 0.784, RAW= 149.1, -19.8, CAL= 154.5, -26.9, ROT= 355.5,  26.9

2025-10-25T04:00:52.367Z,1761364852.367 [DAT](INFO): got valid direction response:
 04:00:50.7365 LVL= 21264, 20337, 16978, 22387, AGC= 66, IDX= 180, 0.12, 0.616,-0.535, 0.685,-0.102, PHS= 0.806,-0.386, 0.784, RAW= 149.1, -19.8, CAL= 154.5, -26.9, ROT= 355.5,  26.9

2025-10-25T04:00:52.368Z,1761364852.368 [DAT](INFO): DAT read: Bearing 355.5,  26.9 (Local)

2025-10-25T04:00:52.368Z,1761364852.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,  26.9 (Local)

2025-10-25T04:00:52.370Z,1761364852.370 [DAT](INFO): DAT read: Range 10 to 50 : 232.5 m  (Round-trip  310.1 ms) speed  0.1 m/s

2025-10-25T04:00:52.370Z,1761364852.370 [DAT](INFO): DAT read: user:266>

2025-10-25T04:00:52.371Z,1761364852.371 [DAT](INFO): DAT read: Tx time:04:00:51.8222

2025-10-25T04:00:52.371Z,1761364852.371 [DAT](INFO): Ping request sent.
2025-10-25T04:00:52.371Z,1761364852.371 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:52.372Z,1761364852.372 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:52.393Z,1761364852.393 [DAT](INFO): direction in FSK: [0.889048,-0.069970,-0.452435]
2025-10-25T04:00:52.393Z,1761364852.393 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:52.394Z,1761364852.394 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:52.409Z,1761364852.409 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:52.409Z,1761364852.409 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:52.610Z,1761364852.610 [DAT](INFO): DAT read: TxSync time:04:00:51.8214

2025-10-25T04:00:52.754Z,1761364852.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.500000 m,
      deltaT: 7.558062 s,
      deltaX: -2.500000 m,
      approachRate: -0.330773 m/s,
      rangeRepo size: 4

2025-10-25T04:00:52.756Z,1761364852.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.409698 m,
      bearing: 332.088918 deg,
      lat: 36.779629 deg,
      lon: -121.859770 deg,
      deltaT: 11.339972 s,
      deltaX: 14.031418 m,
      approachRate: 1.237342 m/s,
      posRepo size: 4

2025-10-25T04:00:52.758Z,1761364852.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:52.761Z,1761364852.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 209.003998 m,
      bearing: 335.950376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012280 deg/s,
      cmd heading: 333.148078 deg,
      new cmd heading: 333.132924 deg.

2025-10-25T04:00:52.762Z,1761364852.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814266 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:53.099Z,1761364853.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892839,0.450313,0.007563],[-0.446523,0.887265,-0.115662],[-0.058795,0.099891,0.993260]]
2025-10-25T04:00:53.156Z,1761364853.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:53.159Z,1761364853.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 208.808502 m,
      bearing: 335.942714 deg,
      approach rate: -0.485878 m/s,
      LOS rate: -0.019060 deg/s,
      cmd heading: 333.132915 deg,
      new cmd heading: 333.109908 deg.

2025-10-25T04:00:53.160Z,1761364853.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813865 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:53.497Z,1761364853.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893765,0.448477,0.007289],[-0.444656,0.888049,-0.116833],[-0.058870,0.101180,0.993125]]
2025-10-25T04:00:53.527Z,1761364853.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:53.530Z,1761364853.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 208.635468 m,
      bearing: 335.935823 deg,
      approach rate: -0.466247 m/s,
      LOS rate: -0.018584 deg/s,
      cmd heading: 333.109910 deg,
      new cmd heading: 333.089220 deg.

2025-10-25T04:00:53.532Z,1761364853.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813504 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:53.893Z,1761364853.893 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:00:53.939Z,1761364853.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894902,0.446184,0.008414],[-0.442266,0.889245,-0.116807],[-0.059600,0.100810,0.993119]]
2025-10-25T04:00:54.026Z,1761364854.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:54.029Z,1761364854.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:54.034Z,1761364854.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 208.403275 m,
      bearing: 335.926068 deg,
      approach rate: -0.462156 m/s,
      LOS rate: -0.019439 deg/s,
      cmd heading: 333.089229 deg,
      new cmd heading: 333.059930 deg.

2025-10-25T04:00:54.034Z,1761364854.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812993 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:54.122Z,1761364854.122 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:54.122Z,1761364854.122 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:54.123Z,1761364854.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:54.314Z,1761364854.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895377,0.445198,0.009969],[-0.441123,0.889800,-0.116903],[-0.060915,0.100275,0.993093]]
2025-10-25T04:00:54.334Z,1761364854.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:54.338Z,1761364854.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 208.259796 m,
      bearing: 335.919978 deg,
      approach rate: -0.470844 m/s,
      LOS rate: -0.019999 deg/s,
      cmd heading: 333.059941 deg,
      new cmd heading: 333.041658 deg.

2025-10-25T04:00:54.339Z,1761364854.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812674 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:54.374Z,1761364854.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002164
2025-10-25T04:00:54.625Z,1761364854.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254003
2025-10-25T04:00:54.705Z,1761364854.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895415,0.445092,0.011200],[-0.440897,0.889915,-0.116885],[-0.061992,0.099722,0.993082]]
2025-10-25T04:00:54.724Z,1761364854.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:54.727Z,1761364854.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 208.077148 m,
      bearing: 335.912199 deg,
      approach rate: -0.468403 m/s,
      LOS rate: -0.019965 deg/s,
      cmd heading: 333.041663 deg,
      new cmd heading: 333.018308 deg.

2025-10-25T04:00:54.728Z,1761364854.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812266 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:54.878Z,1761364854.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506111
2025-10-25T04:00:55.108Z,1761364855.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895671,0.444561,0.011832],[-0.440274,0.890158,-0.117375],[-0.062713,0.099920,0.993017]]
2025-10-25T04:00:55.130Z,1761364855.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758625
2025-10-25T04:00:55.165Z,1761364855.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:55.168Z,1761364855.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 207.863495 m,
      bearing: 335.905497 deg,
      approach rate: -0.484629 m/s,
      LOS rate: -0.015218 deg/s,
      cmd heading: 333.018304 deg,
      new cmd heading: 332.998176 deg.

2025-10-25T04:00:55.170Z,1761364855.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811914 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:55.382Z,1761364855.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010691
2025-10-25T04:00:55.516Z,1761364855.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895050,0.445781,0.012871],[-0.441446,0.889706,-0.116396],[-0.063339,0.098498,0.993119]]
2025-10-25T04:00:55.536Z,1761364855.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:55.539Z,1761364855.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 207.683624 m,
      bearing: 335.899910 deg,
      approach rate: -0.484931 m/s,
      LOS rate: -0.015076 deg/s,
      cmd heading: 332.998169 deg,
      new cmd heading: 332.981392 deg.

2025-10-25T04:00:55.539Z,1761364855.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811622 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:55.635Z,1761364855.635 [DAT](INFO): DAT read: Rx Time:04:00:54.5071

2025-10-25T04:00:55.635Z,1761364855.635 [DAT](INFO): Rx dataTimestamp_ set to:1761364855.634724
2025-10-25T04:00:55.636Z,1761364855.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264073
2025-10-25T04:00:55.886Z,1761364855.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514075
2025-10-25T04:00:55.999Z,1761364855.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894693,0.446451,0.014332],[-0.442086,0.889624,-0.114581],[-0.063905,0.096179,0.993311]]
2025-10-25T04:00:56.079Z,1761364856.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:56.085Z,1761364856.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:56.087Z,1761364856.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 207.414261 m,
      bearing: 335.897098 deg,
      approach rate: -0.494330 m/s,
      LOS rate: -0.005167 deg/s,
      cmd heading: 332.981394 deg,
      new cmd heading: 332.972947 deg.

2025-10-25T04:00:56.093Z,1761364856.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811474 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:56.146Z,1761364856.146 [DAT](INFO): DAT read: 04:00:54.5071 LVL= 13328, 14065, 11922, 16195, AGC= 66, IDX= 129, 0.12,-2.583, 2.563,-2.520, 2.935, PHS= 0.853,-0.326, 0.825, RAW= 148.8, -22.3, CAL= 153.6, -29.2, ROT= 356.4,  29.2

2025-10-25T04:00:56.148Z,1761364856.148 [DAT](INFO): got valid direction response:
 04:00:54.5071 LVL= 13328, 14065, 11922, 16195, AGC= 66, IDX= 129, 0.12,-2.583, 2.563,-2.520, 2.935, PHS= 0.853,-0.326, 0.825, RAW= 148.8, -22.3, CAL= 153.6, -29.2, ROT= 356.4,  29.2

2025-10-25T04:00:56.150Z,1761364856.150 [DAT](INFO): DAT read: Bearing 356.4,  29.2 (Local)

2025-10-25T04:00:56.150Z,1761364856.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  29.2 (Local)

2025-10-25T04:00:56.151Z,1761364856.151 [DAT](INFO): DAT read: Range 10 to 50 : 210.4 m  (Round-trip  280.6 ms) speed  0.8 m/s

2025-10-25T04:00:56.152Z,1761364856.152 [DAT](INFO): DAT read: user:267>

2025-10-25T04:00:56.183Z,1761364856.183 [DAT](INFO): DAT read: Tx time:04:00:55.6223

2025-10-25T04:00:56.183Z,1761364856.183 [DAT](INFO): Ping request sent.
2025-10-25T04:00:56.183Z,1761364856.183 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:56.184Z,1761364856.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:56.190Z,1761364856.190 [DAT](INFO): direction in FSK: [0.871200,-0.054812,-0.487860]
2025-10-25T04:00:56.190Z,1761364856.190 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:56.191Z,1761364856.191 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:56.203Z,1761364856.203 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:56.203Z,1761364856.203 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:56.390Z,1761364856.390 [DAT](INFO): DAT read: TxSync time:04:00:55.6215

2025-10-25T04:00:56.506Z,1761364856.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894096,0.447619,0.015133],[-0.443265,0.889223,-0.113129],[-0.064096,0.094440,0.993465]]
2025-10-25T04:00:56.532Z,1761364856.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 210.399994 m,
 deltaT: 3.780087 s,
 deltaX: -22.100006 m,
 approachRate: -5.846428 m/s,
 rangeRepo size: 4
2025-10-25T04:00:56.549Z,1761364856.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:56.552Z,1761364856.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 207.175552 m,
      bearing: 335.894689 deg,
      approach rate: -0.529603 m/s,
      LOS rate: -0.005350 deg/s,
      cmd heading: 332.972951 deg,
      new cmd heading: 332.965717 deg.

2025-10-25T04:00:56.553Z,1761364856.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811348 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:56.933Z,1761364856.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893576,0.448500,0.019229],[-0.444499,0.889970,-0.101851],[-0.062794,0.082464,0.994614]]
2025-10-25T04:00:57.039Z,1761364857.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:57.062Z,1761364857.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 206.945923 m,
      bearing: 335.892465 deg,
      approach rate: -0.452254 m/s,
      LOS rate: -0.004385 deg/s,
      cmd heading: 332.965711 deg,
      new cmd heading: 332.959031 deg.

2025-10-25T04:00:57.062Z,1761364857.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811231 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:57.545Z,1761364857.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893096,0.449563,0.016494],[-0.445686,0.889190,-0.103467],[-0.061181,0.085055,0.994496]]
2025-10-25T04:00:57.609Z,1761364857.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:57.611Z,1761364857.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 206.595215 m,
      bearing: 335.894752 deg,
      approach rate: -0.615918 m/s,
      LOS rate: 0.004024 deg/s,
      cmd heading: 332.959018 deg,
      new cmd heading: 332.965892 deg.

2025-10-25T04:00:57.612Z,1761364857.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811351 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:57.950Z,1761364857.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893716,0.448352,0.015873],[-0.444429,0.889619,-0.105169],[-0.061274,0.086936,0.994328]]
2025-10-25T04:00:58.047Z,1761364858.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:58.050Z,1761364858.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 206.352646 m,
      bearing: 335.896238 deg,
      approach rate: -0.552737 m/s,
      LOS rate: 0.003390 deg/s,
      cmd heading: 332.965903 deg,
      new cmd heading: 332.970366 deg.

2025-10-25T04:00:58.051Z,1761364858.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811429 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:58.353Z,1761364858.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893280,0.449268,0.014496],[-0.445382,0.888990,-0.106452],[-0.060712,0.088635,0.994212]]
2025-10-25T04:00:58.411Z,1761364858.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:00:58.414Z,1761364858.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:58.417Z,1761364858.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 206.146362 m,
      bearing: 335.902519 deg,
      approach rate: -0.563914 m/s,
      LOS rate: 0.017188 deg/s,
      cmd heading: 332.970356 deg,
      new cmd heading: 332.989218 deg.

2025-10-25T04:00:58.418Z,1761364858.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811758 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:58.658Z,1761364858.658 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:00:58.658Z,1761364858.658 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:00:58.658Z,1761364858.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:00:58.761Z,1761364858.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892567,0.450709,0.013614],[-0.446892,0.888227,-0.106490],[-0.060088,0.088966,0.994221]]
2025-10-25T04:00:58.786Z,1761364858.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:58.789Z,1761364858.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 205.934723 m,
      bearing: 335.909075 deg,
      approach rate: -0.567393 m/s,
      LOS rate: 0.017593 deg/s,
      cmd heading: 332.989207 deg,
      new cmd heading: 333.008894 deg.

2025-10-25T04:00:58.790Z,1761364858.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812102 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:58.910Z,1761364858.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726308
2025-10-25T04:00:59.163Z,1761364859.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979331
2025-10-25T04:00:59.173Z,1761364859.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891385,0.453077,0.012441],[-0.449382,0.887026,-0.106023],[-0.059072,0.088917,0.994286]]
2025-10-25T04:00:59.227Z,1761364859.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:59.231Z,1761364859.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 205.667908 m,
      bearing: 335.919273 deg,
      approach rate: -0.605134 m/s,
      LOS rate: 0.023160 deg/s,
      cmd heading: 333.008906 deg,
      new cmd heading: 333.039541 deg.

2025-10-25T04:00:59.232Z,1761364859.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812636 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:59.415Z,1761364859.415 [DAT](INFO): DAT read: Rx Time:04:00:58.3049

2025-10-25T04:00:59.415Z,1761364859.415 [DAT](INFO): Rx dataTimestamp_ set to:1761364859.414794
2025-10-25T04:00:59.416Z,1761364859.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232298
2025-10-25T04:00:59.565Z,1761364859.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890238,0.455360,0.011130],[-0.451812,0.885876,-0.105306],[-0.057812,0.088718,0.994378]]
2025-10-25T04:00:59.585Z,1761364859.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.41 m.
2025-10-25T04:00:59.587Z,1761364859.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.409698 m,
      nav range: 205.453171 m,
      bearing: 335.927665 deg,
      approach rate: -0.601164 m/s,
      LOS rate: 0.023518 deg/s,
      cmd heading: 333.039532 deg,
      new cmd heading: 333.064734 deg.

2025-10-25T04:00:59.588Z,1761364859.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813076 target range: 231.409698 and range: 232.50 m.
2025-10-25T04:00:59.666Z,1761364859.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482767
2025-10-25T04:00:59.923Z,1761364859.923 [DAT](INFO): DAT read: 04:00:58.3049 LVL= 23504, 32577, 22386, 32755, AGC= 63, IDX= 415, 0.37,-0.872,-2.120,-0.820,-1.708, PHS= 0.924,-0.365, 0.885, RAW= 148.5, -21.9, CAL= 153.4, -28.8, ROT= 356.6,  28.8

2025-10-25T04:00:59.928Z,1761364859.928 [DAT](INFO): got valid direction response:
 04:00:58.3049 LVL= 23504, 32577, 22386, 32755, AGC= 63, IDX= 415, 0.37,-0.872,-2.120,-0.820,-1.708, PHS= 0.924,-0.365, 0.885, RAW= 148.5, -21.9, CAL= 153.4, -28.8, ROT= 356.6,  28.8

2025-10-25T04:00:59.929Z,1761364859.929 [DAT](INFO): DAT read: Bearing 356.6,  28.8 (Local)

2025-10-25T04:00:59.930Z,1761364859.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  28.8 (Local)

2025-10-25T04:00:59.932Z,1761364859.932 [DAT](INFO): DAT read: Range 10 to 50 : 208.8 m  (Round-trip  278.5 ms) speed  0.2 m/s

2025-10-25T04:00:59.933Z,1761364859.933 [DAT](INFO): DAT read: user:268>

2025-10-25T04:00:59.934Z,1761364859.934 [DAT](INFO): DAT read: Tx time:04:00:59.4223

2025-10-25T04:00:59.934Z,1761364859.934 [DAT](INFO): Ping request sent.
2025-10-25T04:00:59.934Z,1761364859.934 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:00:59.935Z,1761364859.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:00:59.935Z,1761364859.935 [DAT](INFO): direction in FSK: [0.874764,-0.051971,-0.481754]
2025-10-25T04:00:59.936Z,1761364859.936 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:59.936Z,1761364859.936 [DAT](INFO): publishing direction and range info
2025-10-25T04:00:59.939Z,1761364859.939 [DAT](INFO): publishing transmit ping time
2025-10-25T04:00:59.939Z,1761364859.939 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:00.172Z,1761364860.172 [DAT](INFO): DAT read: TxSync time:04:00:59.4215

2025-10-25T04:01:00.206Z,1761364860.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 208.800003 m,
      deltaT: 7.559918 s,
      deltaX: -23.699997 m,
      approachRate: -3.134954 m/s,
      rangeRepo size: 4

2025-10-25T04:01:00.208Z,1761364860.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.819321 m,
      bearing: 332.484556 deg,
      lat: 36.779346 deg,
      lon: -121.859743 deg,
      deltaT: 7.559918 s,
      deltaX: -23.590378 m,
      approachRate: -3.120454 m/s,
      posRepo size: 4

2025-10-25T04:01:00.217Z,1761364860.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:00.220Z,1761364860.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 175.677750 m,
      bearing: 332.485043 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023518 deg/s,
      cmd heading: 333.064722 deg,
      new cmd heading: 333.108554 deg.

2025-10-25T04:01:00.233Z,1761364860.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813841 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:00.649Z,1761364860.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886201,0.463270,0.005339],[-0.460179,0.881506,-0.105743],[-0.053693,0.091253,0.994379]]
2025-10-25T04:01:00.667Z,1761364860.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:00.670Z,1761364860.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:00.673Z,1761364860.673 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:00.673Z,1761364860.673 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:00.674Z,1761364860.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:00.677Z,1761364860.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 175.370895 m,
      bearing: 332.496637 deg,
      approach rate: -0.660744 m/s,
      LOS rate: 0.025009 deg/s,
      cmd heading: 333.108544 deg,
      new cmd heading: 333.143387 deg.

2025-10-25T04:01:00.678Z,1761364860.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814449 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:00.927Z,1761364860.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992175
2025-10-25T04:01:01.038Z,1761364861.038 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:01:01.096Z,1761364861.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884921,0.465732,0.002821],[-0.462910,0.880193,-0.104757],[-0.051272,0.091396,0.994494]]
2025-10-25T04:01:01.143Z,1761364861.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:01.146Z,1761364861.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 175.084976 m,
      bearing: 332.507812 deg,
      approach rate: -0.605088 m/s,
      LOS rate: 0.023687 deg/s,
      cmd heading: 333.143378 deg,
      new cmd heading: 333.176956 deg.

2025-10-25T04:01:01.147Z,1761364861.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815035 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:01.177Z,1761364861.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243202
2025-10-25T04:01:01.430Z,1761364861.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495743
2025-10-25T04:01:01.539Z,1761364861.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884908,0.465766,0.000424],[-0.463161,0.880056,-0.104802],[-0.049186,0.092543,0.994493]]
2025-10-25T04:01:01.569Z,1761364861.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:01.571Z,1761364861.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 174.829346 m,
      bearing: 332.517850 deg,
      approach rate: -0.600267 m/s,
      LOS rate: 0.023607 deg/s,
      cmd heading: 333.176956 deg,
      new cmd heading: 333.207115 deg.

2025-10-25T04:01:01.572Z,1761364861.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815561 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:01.684Z,1761364861.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749595
2025-10-25T04:01:01.934Z,1761364861.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999351
2025-10-25T04:01:01.946Z,1761364861.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885135,0.465333,-0.001022],[-0.462833,0.880148,-0.105479],[-0.048183,0.093837,0.994421]]
2025-10-25T04:01:01.994Z,1761364861.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:02.003Z,1761364862.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 174.584747 m,
      bearing: 332.527450 deg,
      approach rate: -0.574844 m/s,
      LOS rate: 0.022592 deg/s,
      cmd heading: 333.207118 deg,
      new cmd heading: 333.235956 deg.

2025-10-25T04:01:02.004Z,1761364862.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816065 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:02.052Z,1761364862.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:01:02.188Z,1761364862.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253451
2025-10-25T04:01:02.375Z,1761364862.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885781,0.464092,-0.003074],[-0.461755,0.880615,-0.106298],[-0.046625,0.095577,0.994330]]
2025-10-25T04:01:02.438Z,1761364862.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503343
2025-10-25T04:01:02.440Z,1761364862.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:02.448Z,1761364862.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 174.319962 m,
      bearing: 332.534472 deg,
      approach rate: -0.593400 m/s,
      LOS rate: 0.015761 deg/s,
      cmd heading: 333.235968 deg,
      new cmd heading: 333.257067 deg.

2025-10-25T04:01:02.453Z,1761364862.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816433 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:02.690Z,1761364862.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755788
2025-10-25T04:01:02.777Z,1761364862.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886444,0.462805,-0.005381],[-0.460657,0.881082,-0.107188],[-0.044865,0.097495,0.994224]]
2025-10-25T04:01:02.809Z,1761364862.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:02.814Z,1761364862.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:02.819Z,1761364862.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 174.104721 m,
      bearing: 332.540106 deg,
      approach rate: -0.575688 m/s,
      LOS rate: 0.015088 deg/s,
      cmd heading: 333.257060 deg,
      new cmd heading: 333.273983 deg.

2025-10-25T04:01:02.822Z,1761364862.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816728 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:02.942Z,1761364862.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008111
2025-10-25T04:01:03.183Z,1761364863.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887614,0.460518,-0.008008],[-0.458569,0.881964,-0.108878],[-0.043078,0.100314,0.994023]]
2025-10-25T04:01:03.195Z,1761364863.195 [DAT](INFO): DAT read: Rx Time:04:01:02.1291

2025-10-25T04:01:03.196Z,1761364863.196 [DAT](INFO): Rx dataTimestamp_ set to:1761364863.195469
2025-10-25T04:01:03.196Z,1761364863.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262045
2025-10-25T04:01:03.275Z,1761364863.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:03.283Z,1761364863.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 173.858093 m,
      bearing: 332.540560 deg,
      approach rate: -0.535337 m/s,
      LOS rate: 0.000987 deg/s,
      cmd heading: 333.273972 deg,
      new cmd heading: 333.275336 deg.

2025-10-25T04:01:03.284Z,1761364863.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816752 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:03.445Z,1761364863.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511252
2025-10-25T04:01:03.592Z,1761364863.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888708,0.458356,-0.010340],[-0.456615,0.882854,-0.109867],[-0.041229,0.102361,0.993893]]
2025-10-25T04:01:03.627Z,1761364863.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:03.631Z,1761364863.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 173.664581 m,
      bearing: 332.540780 deg,
      approach rate: -0.549519 m/s,
      LOS rate: 0.000625 deg/s,
      cmd heading: 333.275338 deg,
      new cmd heading: 333.275998 deg.

2025-10-25T04:01:03.632Z,1761364863.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816763 target range: 207.819321 and range: 208.80 m.
2025-10-25T04:01:03.702Z,1761364863.702 [DAT](INFO): DAT read: Range 10 to 50 : 227.0 m  (Round-trip  302.7 ms) speed  0.4 m/s

2025-10-25T04:01:03.704Z,1761364863.704 [DAT](INFO): DAT read: user:269>

2025-10-25T04:01:03.705Z,1761364863.705 [DAT](INFO): DAT read: Tx time:04:01:03.2223

2025-10-25T04:01:03.706Z,1761364863.706 [DAT](INFO): Ping request sent.
2025-10-25T04:01:03.706Z,1761364863.706 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:03.707Z,1761364863.707 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:01:03.707Z,1761364863.707 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:03.708Z,1761364863.708 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:03.956Z,1761364863.956 [DAT](INFO): DAT read: TxSync time:04:01:03.2215

2025-10-25T04:01:04.005Z,1761364864.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889931,0.455924,-0.012542],[-0.454398,0.883912,-0.110550],[-0.039316,0.104080,0.993792]]
2025-10-25T04:01:04.081Z,1761364864.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.000000 m,
      deltaT: 3.782847 s,
      deltaX: 18.199997 m,
      approachRate: 4.811190 m/s,
      rangeRepo size: 4

2025-10-25T04:01:04.084Z,1761364864.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:04.111Z,1761364864.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 173.446350 m,
      bearing: 332.540851 deg,
      approach rate: -0.504397 m/s,
      LOS rate: 0.000165 deg/s,
      cmd heading: 333.275993 deg,
      new cmd heading: 333.276207 deg.

2025-10-25T04:01:04.118Z,1761364864.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816767 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:04.509Z,1761364864.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:04.512Z,1761364864.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 173.199600 m,
      bearing: 332.535022 deg,
      approach rate: -0.549242 m/s,
      LOS rate: -0.012994 deg/s,
      cmd heading: 333.276212 deg,
      new cmd heading: 333.258700 deg.

2025-10-25T04:01:04.513Z,1761364864.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816462 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:04.845Z,1761364864.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892484,0.450825,-0.015150],[-0.449752,0.886779,-0.106515],[-0.034584,0.101876,0.994196]]
2025-10-25T04:01:04.873Z,1761364864.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:04.875Z,1761364864.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:04.883Z,1761364864.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 173.010071 m,
      bearing: 332.530191 deg,
      approach rate: -0.517557 m/s,
      LOS rate: -0.013206 deg/s,
      cmd heading: 333.258699 deg,
      new cmd heading: 333.244191 deg.

2025-10-25T04:01:04.884Z,1761364864.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816208 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:04.961Z,1761364864.961 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:04.961Z,1761364864.961 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:04.962Z,1761364864.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:05.213Z,1761364865.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507575
2025-10-25T04:01:05.247Z,1761364865.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893335,0.449068,-0.017042],[-0.448220,0.887630,-0.105887],[-0.032424,0.102231,0.994232]]
2025-10-25T04:01:05.346Z,1761364865.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:05.354Z,1761364865.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 172.788574 m,
      bearing: 332.519349 deg,
      approach rate: -0.470524 m/s,
      LOS rate: -0.023062 deg/s,
      cmd heading: 333.244192 deg,
      new cmd heading: 333.211623 deg.

2025-10-25T04:01:05.355Z,1761364865.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815640 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:05.466Z,1761364865.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760021
2025-10-25T04:01:05.653Z,1761364865.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895002,0.445733,-0.017138],[-0.444958,0.889424,-0.104583],[-0.031373,0.101228,0.994368]]
2025-10-25T04:01:05.695Z,1761364865.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:05.703Z,1761364865.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 172.621597 m,
      bearing: 332.510946 deg,
      approach rate: -0.477489 m/s,
      LOS rate: -0.024051 deg/s,
      cmd heading: 333.211626 deg,
      new cmd heading: 333.186394 deg.

2025-10-25T04:01:05.704Z,1761364865.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815199 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:05.718Z,1761364865.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011856
2025-10-25T04:01:05.970Z,1761364865.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263894
2025-10-25T04:01:06.059Z,1761364866.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896174,0.443358,-0.017466],[-0.442652,0.890653,-0.103907],[-0.030512,0.100850,0.994434]]
2025-10-25T04:01:06.158Z,1761364866.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:06.165Z,1761364866.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 172.407928 m,
      bearing: 332.499979 deg,
      approach rate: -0.461638 m/s,
      LOS rate: -0.023724 deg/s,
      cmd heading: 333.186381 deg,
      new cmd heading: 333.153440 deg.

2025-10-25T04:01:06.166Z,1761364866.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814624 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:06.223Z,1761364866.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516786
2025-10-25T04:01:06.474Z,1761364866.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767760
2025-10-25T04:01:06.475Z,1761364866.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897783,0.440083,-0.017685],[-0.439519,0.892596,-0.100475],[-0.028432,0.097978,0.994782]]
2025-10-25T04:01:06.535Z,1761364866.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:06.550Z,1761364866.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 172.203003 m,
      bearing: 332.488311 deg,
      approach rate: -0.544473 m/s,
      LOS rate: -0.031037 deg/s,
      cmd heading: 333.153432 deg,
      new cmd heading: 333.118387 deg.

2025-10-25T04:01:06.551Z,1761364866.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814013 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:06.725Z,1761364866.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019601
2025-10-25T04:01:06.875Z,1761364866.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897880,0.439840,-0.018766],[-0.439418,0.892785,-0.099233],[-0.026893,0.097346,0.994887]]
2025-10-25T04:01:06.892Z,1761364866.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:06.895Z,1761364866.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:06.898Z,1761364866.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 172.024658 m,
      bearing: 332.478125 deg,
      approach rate: -0.495366 m/s,
      LOS rate: -0.028323 deg/s,
      cmd heading: 333.118380 deg,
      new cmd heading: 333.087788 deg.

2025-10-25T04:01:06.899Z,1761364866.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813478 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:06.977Z,1761364866.977 [DAT](INFO): DAT read: Rx Time:04:01:05.8992

2025-10-25T04:01:06.978Z,1761364866.978 [DAT](INFO): Rx dataTimestamp_ set to:1761364866.977631
2025-10-25T04:01:06.978Z,1761364866.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272572
2025-10-25T04:01:07.230Z,1761364867.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524012
2025-10-25T04:01:07.272Z,1761364867.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898195,0.439181,-0.019125],[-0.438848,0.893275,-0.097323],[-0.025659,0.095808,0.995069]]
2025-10-25T04:01:07.351Z,1761364867.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:07.381Z,1761364867.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 171.829254 m,
      bearing: 332.466892 deg,
      approach rate: -0.429355 m/s,
      LOS rate: -0.024711 deg/s,
      cmd heading: 333.087781 deg,
      new cmd heading: 333.054043 deg.

2025-10-25T04:01:07.382Z,1761364867.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812890 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:07.490Z,1761364867.490 [DAT](INFO): DAT read: 04:01:05.8992 LVL=  9200, 11761,  7618, 10291, AGC= 60, IDX= 132, 0.06, 0.677,-0.686, 0.715,-0.131, PHS= 0.895,-0.508, 0.843, RAW= 148.1, -17.5, CAL= 154.0, -25.0, ROT= 356.0,  25.0

2025-10-25T04:01:07.491Z,1761364867.491 [DAT](INFO): got valid direction response:
 04:01:05.8992 LVL=  9200, 11761,  7618, 10291, AGC= 60, IDX= 132, 0.06, 0.677,-0.686, 0.715,-0.131, PHS= 0.895,-0.508, 0.843, RAW= 148.1, -17.5, CAL= 154.0, -25.0, ROT= 356.0,  25.0

2025-10-25T04:01:07.492Z,1761364867.492 [DAT](INFO): DAT read: Bearing 356.0,  25.0 (Local)

2025-10-25T04:01:07.493Z,1761364867.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  25.0 (Local)

2025-10-25T04:01:07.494Z,1761364867.494 [DAT](INFO): DAT read: Range 10 to 50 : 204.4 m  (Round-trip  272.6 ms) speed  0.4 m/s

2025-10-25T04:01:07.495Z,1761364867.495 [DAT](INFO): DAT read: user:270>

2025-10-25T04:01:07.496Z,1761364867.496 [DAT](INFO): DAT read: Tx time:04:01:07.0224

2025-10-25T04:01:07.496Z,1761364867.496 [DAT](INFO): Ping request sent.
2025-10-25T04:01:07.496Z,1761364867.496 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:07.497Z,1761364867.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:07.498Z,1761364867.498 [DAT](INFO): direction in FSK: [0.904100,-0.063221,-0.422618]
2025-10-25T04:01:07.499Z,1761364867.499 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:07.499Z,1761364867.499 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:07.503Z,1761364867.503 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:07.503Z,1761364867.503 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:07.681Z,1761364867.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898057,0.439483,-0.018697],[-0.439193,0.893469,-0.093926],[-0.024573,0.092563,0.995404]]
2025-10-25T04:01:07.732Z,1761364867.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 204.399994 m,
 deltaT: 3.781914 s,
 deltaX: -22.600006 m,
 approachRate: -5.975812 m/s,
 rangeRepo size: 4
2025-10-25T04:01:07.734Z,1761364867.734 [DAT](INFO): DAT read: TxSync time:04:01:07.0216

2025-10-25T04:01:07.737Z,1761364867.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:07.740Z,1761364867.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 171.625473 m,
      bearing: 332.455168 deg,
      approach rate: -0.534818 m/s,
      LOS rate: -0.030805 deg/s,
      cmd heading: 333.054039 deg,
      new cmd heading: 333.018827 deg.

2025-10-25T04:01:07.745Z,1761364867.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812275 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:08.077Z,1761364868.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896906,0.441756,-0.020303],[-0.441691,0.892635,-0.090070],[-0.021666,0.089752,0.995728]]
2025-10-25T04:01:08.102Z,1761364868.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:08.128Z,1761364868.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 171.433380 m,
      bearing: 332.444267 deg,
      approach rate: -0.517192 m/s,
      LOS rate: -0.029383 deg/s,
      cmd heading: 333.018823 deg,
      new cmd heading: 332.986083 deg.

2025-10-25T04:01:08.141Z,1761364868.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811704 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:08.491Z,1761364868.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896784,0.441950,-0.021406],[-0.441978,0.892468,-0.090313],[-0.020810,0.090452,0.995683]]
2025-10-25T04:01:08.550Z,1761364868.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:08.553Z,1761364868.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 171.213531 m,
      bearing: 332.431784 deg,
      approach rate: -0.490737 m/s,
      LOS rate: -0.027899 deg/s,
      cmd heading: 332.986093 deg,
      new cmd heading: 332.948597 deg.

2025-10-25T04:01:08.554Z,1761364868.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811049 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:08.885Z,1761364868.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896238,0.442974,-0.023061],[-0.443162,0.891954,-0.089580],[-0.019112,0.090505,0.995713]]
2025-10-25T04:01:08.905Z,1761364868.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:08.907Z,1761364868.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:08.910Z,1761364868.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 171.038010 m,
      bearing: 332.421875 deg,
      approach rate: -0.491898 m/s,
      LOS rate: -0.027800 deg/s,
      cmd heading: 332.948609 deg,
      new cmd heading: 332.918850 deg.

2025-10-25T04:01:08.911Z,1761364868.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810530 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:08.994Z,1761364868.994 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:08.994Z,1761364868.994 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:08.995Z,1761364868.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:09.245Z,1761364869.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749567
2025-10-25T04:01:09.306Z,1761364869.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896010,0.443438,-0.023002],[-0.443619,0.891734,-0.089507],[-0.019179,0.090403,0.995721]]
2025-10-25T04:01:09.400Z,1761364869.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:09.407Z,1761364869.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 170.786713 m,
      bearing: 332.413809 deg,
      approach rate: -0.509844 m/s,
      LOS rate: -0.016389 deg/s,
      cmd heading: 332.918856 deg,
      new cmd heading: 332.894623 deg.

2025-10-25T04:01:09.408Z,1761364869.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810107 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:09.499Z,1761364869.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003022
2025-10-25T04:01:09.692Z,1761364869.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895357,0.444703,-0.023976],[-0.444970,0.891075,-0.089368],[-0.018378,0.090685,0.995710]]
2025-10-25T04:01:09.731Z,1761364869.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:09.735Z,1761364869.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 170.604340 m,
      bearing: 332.408033 deg,
      approach rate: -0.551226 m/s,
      LOS rate: -0.017476 deg/s,
      cmd heading: 332.894623 deg,
      new cmd heading: 332.877277 deg.

2025-10-25T04:01:09.735Z,1761364869.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809804 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:09.750Z,1761364869.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253691
2025-10-25T04:01:10.002Z,1761364870.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506370
2025-10-25T04:01:10.096Z,1761364870.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894915,0.445564,-0.024502],[-0.445912,0.890818,-0.087216],[-0.017034,0.088976,0.995888]]
2025-10-25T04:01:10.122Z,1761364870.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:10.125Z,1761364870.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 170.388672 m,
      bearing: 332.401264 deg,
      approach rate: -0.555104 m/s,
      LOS rate: -0.017444 deg/s,
      cmd heading: 332.877274 deg,
      new cmd heading: 332.856942 deg.

2025-10-25T04:01:10.126Z,1761364870.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809450 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:10.254Z,1761364870.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758362
2025-10-25T04:01:10.505Z,1761364870.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009570
2025-10-25T04:01:10.578Z,1761364870.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:10.593Z,1761364870.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 170.147141 m,
      bearing: 332.397090 deg,
      approach rate: -0.526450 m/s,
      LOS rate: -0.009112 deg/s,
      cmd heading: 332.856948 deg,
      new cmd heading: 332.844406 deg.

2025-10-25T04:01:10.594Z,1761364870.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809231 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:10.761Z,1761364870.761 [DAT](INFO): DAT read: Rx Time:04:01:09.6972

2025-10-25T04:01:10.762Z,1761364870.762 [DAT](INFO): Rx dataTimestamp_ set to:1761364870.761672
2025-10-25T04:01:10.762Z,1761364870.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266570
2025-10-25T04:01:10.901Z,1761364870.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893263,0.448747,-0.026585],[-0.449300,0.889327,-0.085012],[-0.014506,0.087883,0.996025]]
2025-10-25T04:01:10.935Z,1761364870.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:10.938Z,1761364870.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:10.941Z,1761364870.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 169.943283 m,
      bearing: 332.393818 deg,
      approach rate: -0.566863 m/s,
      LOS rate: -0.009109 deg/s,
      cmd heading: 332.844407 deg,
      new cmd heading: 332.834580 deg.

2025-10-25T04:01:10.942Z,1761364870.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809059 target range: 207.819321 and range: 227.00 m.
2025-10-25T04:01:11.015Z,1761364871.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518823
2025-10-25T04:01:11.266Z,1761364871.266 [DAT](INFO): DAT read: Range 10 to 50 : 203.0 m  (Round-trip  270.7 ms) speed  0.3 m/s

2025-10-25T04:01:11.267Z,1761364871.267 [DAT](INFO): DAT read: user:271>

2025-10-25T04:01:11.268Z,1761364871.268 [DAT](INFO): DAT read: Tx time:04:01:10.7724

2025-10-25T04:01:11.268Z,1761364871.268 [DAT](INFO): Ping request sent.
2025-10-25T04:01:11.268Z,1761364871.268 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:11.269Z,1761364871.269 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:01:11.269Z,1761364871.269 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:11.269Z,1761364871.269 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:11.430Z,1761364871.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.000000 m,
      deltaT: 7.565179 s,
      deltaX: -24.000000 m,
      approachRate: -3.172430 m/s,
      rangeRepo size: 4

2025-10-25T04:01:11.431Z,1761364871.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:11.434Z,1761364871.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 169.656403 m,
      bearing: 332.391061 deg,
      approach rate: -0.584517 m/s,
      LOS rate: -0.005627 deg/s,
      cmd heading: 332.834572 deg,
      new cmd heading: 332.826287 deg.

2025-10-25T04:01:11.435Z,1761364871.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808915 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:11.519Z,1761364871.519 [DAT](INFO): DAT read: TxSync time:04:01:10.7716

2025-10-25T04:01:11.709Z,1761364871.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891818,0.451416,-0.029750],[-0.452247,0.887910,-0.084191],[-0.011590,0.088537,0.996005]]
2025-10-25T04:01:11.738Z,1761364871.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:11.742Z,1761364871.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 169.482559 m,
      bearing: 332.389579 deg,
      approach rate: -0.560979 m/s,
      LOS rate: -0.004788 deg/s,
      cmd heading: 332.826294 deg,
      new cmd heading: 332.821843 deg.

2025-10-25T04:01:11.743Z,1761364871.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808837 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:12.114Z,1761364872.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889953,0.454916,-0.032175],[-0.455939,0.885942,-0.085002],[-0.010163,0.090318,0.995861]]
2025-10-25T04:01:12.219Z,1761364872.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:12.243Z,1761364872.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 169.237396 m,
      bearing: 332.387827 deg,
      approach rate: -0.516756 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 332.821840 deg,
      new cmd heading: 332.816576 deg.

2025-10-25T04:01:12.244Z,1761364872.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808745 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:12.518Z,1761364872.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889398,0.455834,-0.034452],[-0.457067,0.885450,-0.084066],[-0.007814,0.090515,0.995864]]
2025-10-25T04:01:12.578Z,1761364872.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:12.581Z,1761364872.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 169.010635 m,
      bearing: 332.386197 deg,
      approach rate: -0.621723 m/s,
      LOS rate: -0.004475 deg/s,
      cmd heading: 332.816567 deg,
      new cmd heading: 332.811671 deg.

2025-10-25T04:01:12.582Z,1761364872.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808660 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:12.924Z,1761364872.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889236,0.456093,-0.035190],[-0.457393,0.885299,-0.083885],[-0.007106,0.090689,0.995854]]
2025-10-25T04:01:12.942Z,1761364872.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:12.944Z,1761364872.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:12.948Z,1761364872.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 168.807007 m,
      bearing: 332.384755 deg,
      approach rate: -0.555530 m/s,
      LOS rate: -0.003939 deg/s,
      cmd heading: 332.811677 deg,
      new cmd heading: 332.807345 deg.

2025-10-25T04:01:12.950Z,1761364872.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808584 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:13.031Z,1761364873.031 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:13.031Z,1761364873.031 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:13.031Z,1761364873.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:13.282Z,1761364873.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013648
2025-10-25T04:01:13.336Z,1761364873.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889471,0.455624,-0.035334],[-0.456937,0.885503,-0.084214],[-0.007082,0.091051,0.995821]]
2025-10-25T04:01:13.384Z,1761364873.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:13.387Z,1761364873.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 168.562317 m,
      bearing: 332.384300 deg,
      approach rate: -0.556213 m/s,
      LOS rate: -0.001035 deg/s,
      cmd heading: 332.807333 deg,
      new cmd heading: 332.805967 deg.

2025-10-25T04:01:13.388Z,1761364873.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808560 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:13.534Z,1761364873.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265179
2025-10-25T04:01:13.730Z,1761364873.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889537,0.455453,-0.035868],[-0.456814,0.885551,-0.084385],[-0.006671,0.091448,0.995788]]
2025-10-25T04:01:13.751Z,1761364873.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:13.754Z,1761364873.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 168.359528 m,
      bearing: 332.383913 deg,
      approach rate: -0.552971 m/s,
      LOS rate: -0.001058 deg/s,
      cmd heading: 332.805967 deg,
      new cmd heading: 332.804804 deg.

2025-10-25T04:01:13.755Z,1761364873.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808539 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:13.786Z,1761364873.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517447
2025-10-25T04:01:14.038Z,1761364874.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769159
2025-10-25T04:01:14.132Z,1761364874.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889421,0.455647,-0.036287],[-0.457047,0.885451,-0.084168],[-0.006221,0.091446,0.995791]]
2025-10-25T04:01:14.153Z,1761364874.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:14.155Z,1761364874.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 168.136536 m,
      bearing: 332.383506 deg,
      approach rate: -0.555011 m/s,
      LOS rate: -0.001015 deg/s,
      cmd heading: 332.804792 deg,
      new cmd heading: 332.803569 deg.

2025-10-25T04:01:14.156Z,1761364874.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808518 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:14.291Z,1761364874.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022268
2025-10-25T04:01:14.537Z,1761364874.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889814,0.454789,-0.037377],[-0.456287,0.885736,-0.085282],[-0.005680,0.092940,0.995655]]
2025-10-25T04:01:14.542Z,1761364874.542 [DAT](INFO): DAT read: Rx Time:04:01:13.4452

2025-10-25T04:01:14.542Z,1761364874.542 [DAT](INFO): Rx dataTimestamp_ set to:1761364874.541868
2025-10-25T04:01:14.543Z,1761364874.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274279
2025-10-25T04:01:14.617Z,1761364874.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:14.619Z,1761364874.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 167.887970 m,
      bearing: 332.381992 deg,
      approach rate: -0.540580 m/s,
      LOS rate: -0.003297 deg/s,
      cmd heading: 332.803563 deg,
      new cmd heading: 332.799014 deg.

2025-10-25T04:01:14.620Z,1761364874.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808439 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:14.794Z,1761364874.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525232
2025-10-25T04:01:14.945Z,1761364874.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890029,0.454276,-0.038489],[-0.455875,0.885847,-0.086331],[-0.005123,0.094383,0.995523]]
2025-10-25T04:01:14.962Z,1761364874.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:14.978Z,1761364874.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.82 m.
2025-10-25T04:01:14.991Z,1761364874.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.819321 m,
      nav range: 167.694519 m,
      bearing: 332.380779 deg,
      approach rate: -0.528322 m/s,
      LOS rate: -0.003315 deg/s,
      cmd heading: 332.799028 deg,
      new cmd heading: 332.795386 deg.

2025-10-25T04:01:14.992Z,1761364874.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808375 target range: 207.819321 and range: 203.00 m.
2025-10-25T04:01:15.055Z,1761364875.055 [DAT](INFO): DAT read: 04:01:13.4453 LVL= 24000, 31457, 22002, 32499, AGC= 65, IDX= 427,-0.36,-0.692,-1.956,-0.666,-1.039, PHS= 0.434,-0.870, 0.369, RAW= 147.5,   1.1, CAL= 150.7,  -7.8, ROT= 359.3,   7.8

2025-10-25T04:01:15.056Z,1761364875.056 [DAT](INFO): got valid direction response:
 04:01:13.4453 LVL= 24000, 31457, 22002, 32499, AGC= 65, IDX= 427,-0.36,-0.692,-1.956,-0.666,-1.039, PHS= 0.434,-0.870, 0.369, RAW= 147.5,   1.1, CAL= 150.7,  -7.8, ROT= 359.3,   7.8

2025-10-25T04:01:15.057Z,1761364875.057 [DAT](INFO): DAT read: Bearing 359.3,   7.8 (Local)

2025-10-25T04:01:15.058Z,1761364875.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,   7.8 (Local)

2025-10-25T04:01:15.060Z,1761364875.060 [DAT](INFO): DAT read: Range 10 to 50 : 201.4 m  (Round-trip  268.6 ms) speed  0.7 m/s

2025-10-25T04:01:15.061Z,1761364875.061 [DAT](INFO): DAT read: user:272>

2025-10-25T04:01:15.063Z,1761364875.063 [DAT](INFO): DAT read: Tx time:04:01:14.5725

2025-10-25T04:01:15.063Z,1761364875.063 [DAT](INFO): Ping request sent.
2025-10-25T04:01:15.064Z,1761364875.064 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:15.069Z,1761364875.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:15.071Z,1761364875.071 [DAT](INFO): direction in FSK: [0.990674,-0.012104,-0.135716]
2025-10-25T04:01:15.071Z,1761364875.071 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:15.072Z,1761364875.072 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:15.091Z,1761364875.091 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:15.092Z,1761364875.092 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:15.303Z,1761364875.303 [DAT](INFO): DAT read: TxSync time:04:01:14.5717

2025-10-25T04:01:15.360Z,1761364875.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890344,0.453598,-0.039191],[-0.455266,0.886154,-0.086400],[-0.004461,0.094769,0.995489]]
2025-10-25T04:01:15.499Z,1761364875.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.399994 m,
      deltaT: 3.783430 s,
      deltaX: -1.600006 m,
      approachRate: -0.422898 m/s,
      rangeRepo size: 4

2025-10-25T04:01:15.506Z,1761364875.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 200.454453 m,
      bearing: 332.964681 deg,
      lat: 36.779427 deg,
      lon: -121.859797 deg,
      deltaT: 15.131456 s,
      deltaX: -7.364868 m,
      approachRate: -0.486726 m/s,
      posRepo size: 4

2025-10-25T04:01:15.509Z,1761364875.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:15.511Z,1761364875.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 177.607925 m,
      bearing: 332.339770 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003315 deg/s,
      cmd heading: 332.795394 deg,
      new cmd heading: 332.790218 deg.

2025-10-25T04:01:15.513Z,1761364875.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808285 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:15.786Z,1761364875.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890395,0.453843,-0.034963],[-0.455180,0.887288,-0.074378],[-0.002733,0.082141,0.996617]]
2025-10-25T04:01:15.807Z,1761364875.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:15.810Z,1761364875.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 177.405533 m,
      bearing: 332.338639 deg,
      approach rate: -0.657512 m/s,
      LOS rate: -0.003677 deg/s,
      cmd heading: 332.790230 deg,
      new cmd heading: 332.786834 deg.

2025-10-25T04:01:15.811Z,1761364875.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808226 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:16.190Z,1761364876.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891027,0.452577,-0.035277],[-0.453945,0.887942,-0.074120],[-0.002221,0.082057,0.996625]]
2025-10-25T04:01:16.233Z,1761364876.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:16.258Z,1761364876.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 177.178986 m,
      bearing: 332.337269 deg,
      approach rate: -0.539335 m/s,
      LOS rate: -0.003266 deg/s,
      cmd heading: 332.786842 deg,
      new cmd heading: 332.782727 deg.

2025-10-25T04:01:16.267Z,1761364876.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808154 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:16.593Z,1761364876.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891385,0.451726,-0.037102],[-0.453247,0.888228,-0.074957],[-0.000905,0.083632,0.996496]]
2025-10-25T04:01:16.643Z,1761364876.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:16.646Z,1761364876.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 176.937775 m,
      bearing: 332.337474 deg,
      approach rate: -0.579993 m/s,
      LOS rate: 0.000494 deg/s,
      cmd heading: 332.782717 deg,
      new cmd heading: 332.783333 deg.

2025-10-25T04:01:16.648Z,1761364876.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808165 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:17.002Z,1761364877.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892715,0.448989,-0.038329],[-0.450621,0.889389,-0.076988],[-0.000477,0.086000,0.996295]]
2025-10-25T04:01:17.025Z,1761364877.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:17.027Z,1761364877.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:17.032Z,1761364877.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 176.723648 m,
      bearing: 332.337446 deg,
      approach rate: -0.557526 m/s,
      LOS rate: -0.000072 deg/s,
      cmd heading: 332.783345 deg,
      new cmd heading: 332.783262 deg.

2025-10-25T04:01:17.053Z,1761364877.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808164 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:17.066Z,1761364877.066 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:17.066Z,1761364877.066 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:17.066Z,1761364877.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:17.320Z,1761364877.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256438
2025-10-25T04:01:17.406Z,1761364877.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893390,0.447492,-0.040057],[-0.449281,0.889847,-0.079490],[0.000074,0.089013,0.996031]]
2025-10-25T04:01:17.464Z,1761364877.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:17.490Z,1761364877.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 176.469040 m,
      bearing: 332.340276 deg,
      approach rate: -0.583187 m/s,
      LOS rate: 0.006491 deg/s,
      cmd heading: 332.783263 deg,
      new cmd heading: 332.791764 deg.

2025-10-25T04:01:17.497Z,1761364877.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808312 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:17.570Z,1761364877.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506239
2025-10-25T04:01:17.805Z,1761364877.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893530,0.447018,-0.042184],[-0.449003,0.889750,-0.082102],[0.000832,0.092301,0.995731]]
2025-10-25T04:01:17.822Z,1761364877.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758343
2025-10-25T04:01:17.844Z,1761364877.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:17.851Z,1761364877.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 176.250290 m,
      bearing: 332.342682 deg,
      approach rate: -0.574372 m/s,
      LOS rate: 0.006325 deg/s,
      cmd heading: 332.791760 deg,
      new cmd heading: 332.798987 deg.

2025-10-25T04:01:17.852Z,1761364877.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808438 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:18.074Z,1761364878.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010899
2025-10-25T04:01:18.210Z,1761364878.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893373,0.447198,-0.043564],[-0.449311,0.889569,-0.082383],[0.001912,0.093172,0.995648]]
2025-10-25T04:01:18.230Z,1761364878.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:18.234Z,1761364878.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 176.016891 m,
      bearing: 332.345279 deg,
      approach rate: -0.605832 m/s,
      LOS rate: 0.006750 deg/s,
      cmd heading: 332.799000 deg,
      new cmd heading: 332.806801 deg.

2025-10-25T04:01:18.234Z,1761364878.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808575 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:18.327Z,1761364878.327 [DAT](INFO): DAT read: Rx Time:04:01:17.2423

2025-10-25T04:01:18.327Z,1761364878.327 [DAT](INFO): Rx dataTimestamp_ set to:1761364878.326885
2025-10-25T04:01:18.328Z,1761364878.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264389
2025-10-25T04:01:18.578Z,1761364878.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514584
2025-10-25T04:01:18.763Z,1761364878.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.45 m.
2025-10-25T04:01:18.767Z,1761364878.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.454453 m,
      nav range: 175.705170 m,
      bearing: 332.350234 deg,
      approach rate: -0.584534 m/s,
      LOS rate: 0.009307 deg/s,
      cmd heading: 332.806814 deg,
      new cmd heading: 332.821704 deg.

2025-10-25T04:01:18.768Z,1761364878.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808835 target range: 200.454453 and range: 201.40 m.
2025-10-25T04:01:18.836Z,1761364878.836 [DAT](INFO): DAT read: 04:01:17.2423 LVL= 24048, 27297, 17106, 20723, AGC= 63, IDX= 413,-0.32, 1.927, 0.527, 1.982, 0.920, PHS= 1.095,-0.346, 1.058, RAW= 148.7, -24.2, CAL= 153.2, -30.7, ROT= 356.8,  30.7

2025-10-25T04:01:18.837Z,1761364878.837 [DAT](INFO): got valid direction response:
 04:01:17.2423 LVL= 24048, 27297, 17106, 20723, AGC= 63, IDX= 413,-0.32, 1.927, 0.527, 1.982, 0.920, PHS= 1.095,-0.346, 1.058, RAW= 148.7, -24.2, CAL= 153.2, -30.7, ROT= 356.8,  30.7

2025-10-25T04:01:18.838Z,1761364878.838 [DAT](INFO): DAT read: Bearing 356.8,  30.7 (Local)

2025-10-25T04:01:18.839Z,1761364878.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  30.7 (Local)

2025-10-25T04:01:18.840Z,1761364878.840 [DAT](INFO): DAT read: Range 10 to 50 : 199.2 m  (Round-trip  265.7 ms) speed -0.5 m/s

2025-10-25T04:01:18.841Z,1761364878.841 [DAT](INFO): DAT read: user:273>

2025-10-25T04:01:18.842Z,1761364878.842 [DAT](INFO): DAT read: Tx time:04:01:18.3725

2025-10-25T04:01:18.842Z,1761364878.842 [DAT](INFO): Ping request sent.
2025-10-25T04:01:18.842Z,1761364878.842 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:18.842Z,1761364878.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:18.843Z,1761364878.843 [DAT](INFO): direction in FSK: [0.858512,-0.047998,-0.510543]
2025-10-25T04:01:18.844Z,1761364878.844 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:18.844Z,1761364878.844 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:18.848Z,1761364878.848 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:18.848Z,1761364878.848 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:19.082Z,1761364879.082 [DAT](INFO): DAT read: TxSync time:04:01:18.3717

2025-10-25T04:01:19.202Z,1761364879.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.199997 m,
      deltaT: 3.780602 s,
      deltaX: -2.199997 m,
      approachRate: -0.581917 m/s,
      rangeRepo size: 4

2025-10-25T04:01:19.204Z,1761364879.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.263931 m,
      bearing: 333.285735 deg,
      lat: 36.779398 deg,
      lon: -121.859743 deg,
      deltaT: 3.780602 s,
      deltaX: -2.190521 m,
      approachRate: -0.579411 m/s,
      posRepo size: 4

2025-10-25T04:01:19.209Z,1761364879.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:19.212Z,1761364879.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 170.405640 m,
      bearing: 333.286199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009307 deg/s,
      cmd heading: 332.821704 deg,
      new cmd heading: 332.833952 deg.

2025-10-25T04:01:19.217Z,1761364879.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809048 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:19.579Z,1761364879.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890854,0.452044,-0.045106],[-0.454248,0.887701,-0.075129],[0.006079,0.087419,0.996153]]
2025-10-25T04:01:19.617Z,1761364879.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:19.619Z,1761364879.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:19.622Z,1761364879.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 170.138123 m,
      bearing: 333.292208 deg,
      approach rate: -0.640535 m/s,
      LOS rate: 0.014412 deg/s,
      cmd heading: 332.833943 deg,
      new cmd heading: 332.852001 deg.

2025-10-25T04:01:19.623Z,1761364879.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809363 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:19.842Z,1761364879.842 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:19.842Z,1761364879.842 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:19.842Z,1761364879.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:19.976Z,1761364879.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890517,0.452500,-0.047157],[-0.454884,0.887363,-0.075285],[0.007778,0.088494,0.996046]]
2025-10-25T04:01:20.011Z,1761364880.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:20.018Z,1761364880.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 169.913147 m,
      bearing: 333.297331 deg,
      approach rate: -0.573177 m/s,
      LOS rate: 0.013068 deg/s,
      cmd heading: 332.852002 deg,
      new cmd heading: 332.867390 deg.

2025-10-25T04:01:20.019Z,1761364880.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809632 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:20.095Z,1761364880.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252200
2025-10-25T04:01:20.349Z,1761364880.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505707
2025-10-25T04:01:20.477Z,1761364880.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:20.479Z,1761364880.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 169.646881 m,
      bearing: 333.301625 deg,
      approach rate: -0.577650 m/s,
      LOS rate: 0.009331 deg/s,
      cmd heading: 332.867384 deg,
      new cmd heading: 332.880288 deg.

2025-10-25T04:01:20.480Z,1761364880.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809857 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:20.599Z,1761364880.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756842
2025-10-25T04:01:20.817Z,1761364880.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890333,0.452637,-0.049259],[-0.455244,0.886820,-0.079399],[0.007745,0.093117,0.995625]]
2025-10-25T04:01:20.850Z,1761364880.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007489
2025-10-25T04:01:20.870Z,1761364880.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:20.880Z,1761364880.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 169.422913 m,
      bearing: 333.305279 deg,
      approach rate: -0.563738 m/s,
      LOS rate: 0.009210 deg/s,
      cmd heading: 332.880279 deg,
      new cmd heading: 332.891257 deg.

2025-10-25T04:01:20.885Z,1761364880.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810049 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:21.101Z,1761364881.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259239
2025-10-25T04:01:21.218Z,1761364881.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890527,0.452175,-0.049988],[-0.454865,0.886862,-0.081079],[0.007671,0.094941,0.995453]]
2025-10-25T04:01:21.238Z,1761364881.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:21.240Z,1761364881.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 169.188766 m,
      bearing: 333.309077 deg,
      approach rate: -0.636500 m/s,
      LOS rate: 0.010337 deg/s,
      cmd heading: 332.891262 deg,
      new cmd heading: 332.902670 deg.

2025-10-25T04:01:21.242Z,1761364881.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810248 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:21.359Z,1761364881.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516033
2025-10-25T04:01:21.606Z,1761364881.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763345
2025-10-25T04:01:21.628Z,1761364881.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890526,0.452093,-0.050743],[-0.454866,0.886743,-0.082369],[0.007758,0.096434,0.995309]]
2025-10-25T04:01:21.667Z,1761364881.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:21.669Z,1761364881.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:21.672Z,1761364881.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 168.948761 m,
      bearing: 333.309123 deg,
      approach rate: -0.556553 m/s,
      LOS rate: 0.000107 deg/s,
      cmd heading: 332.902682 deg,
      new cmd heading: 332.902820 deg.

2025-10-25T04:01:21.693Z,1761364881.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810250 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:21.858Z,1761364881.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015834
2025-10-25T04:01:22.031Z,1761364882.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890574,0.451910,-0.051520],[-0.454767,0.886698,-0.083392],[0.007997,0.097696,0.995184]]
2025-10-25T04:01:22.062Z,1761364882.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:22.066Z,1761364882.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 168.728806 m,
      bearing: 333.309160 deg,
      approach rate: -0.558892 m/s,
      LOS rate: 0.000094 deg/s,
      cmd heading: 332.902819 deg,
      new cmd heading: 332.902930 deg.

2025-10-25T04:01:22.067Z,1761364882.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810252 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:22.111Z,1761364882.111 [DAT](INFO): DAT read: Rx Time:04:01:21.0682

2025-10-25T04:01:22.111Z,1761364882.111 [DAT](INFO): Rx dataTimestamp_ set to:1761364882.111044
2025-10-25T04:01:22.112Z,1761364882.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270039
2025-10-25T04:01:22.365Z,1761364882.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522505
2025-10-25T04:01:22.427Z,1761364882.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890898,0.451198,-0.052165],[-0.454129,0.886938,-0.084306],[0.008228,0.098797,0.995074]]
2025-10-25T04:01:22.479Z,1761364882.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:22.507Z,1761364882.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 168.512787 m,
      bearing: 333.303482 deg,
      approach rate: -0.518227 m/s,
      LOS rate: -0.013638 deg/s,
      cmd heading: 332.902928 deg,
      new cmd heading: 332.885874 deg.

2025-10-25T04:01:22.514Z,1761364882.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809955 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:22.621Z,1761364882.621 [DAT](INFO): DAT read: 04:01:21.0682 LVL= 14992, 19185, 12354, 15779, AGC= 64, IDX= 182,-0.32,-3.063, 2.091,-2.907, 2.314, PHS= 0.994,-0.176, 1.059, RAW= 152.7, -28.9, CAL= 155.9, -34.8, ROT= 354.1,  34.8

2025-10-25T04:01:22.622Z,1761364882.622 [DAT](INFO): got valid direction response:
 04:01:21.0682 LVL= 14992, 19185, 12354, 15779, AGC= 64, IDX= 182,-0.32,-3.063, 2.091,-2.907, 2.314, PHS= 0.994,-0.176, 1.059, RAW= 152.7, -28.9, CAL= 155.9, -34.8, ROT= 354.1,  34.8

2025-10-25T04:01:22.623Z,1761364882.623 [DAT](INFO): DAT read: Bearing 354.1,  34.8 (Local)

2025-10-25T04:01:22.623Z,1761364882.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,  34.8 (Local)

2025-10-25T04:01:22.626Z,1761364882.626 [DAT](INFO): DAT read: Range 10 to 50 : 218.7 m  (Round-trip  291.6 ms) speed  0.3 m/s

2025-10-25T04:01:22.626Z,1761364882.626 [DAT](INFO): DAT read: user:274>

2025-10-25T04:01:22.627Z,1761364882.627 [DAT](INFO): DAT read: Tx time:04:01:22.1725

2025-10-25T04:01:22.627Z,1761364882.627 [DAT](INFO): Ping request sent.
2025-10-25T04:01:22.628Z,1761364882.628 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:22.628Z,1761364882.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:22.629Z,1761364882.629 [DAT](INFO): direction in FSK: [0.816799,-0.084408,-0.570714]
2025-10-25T04:01:22.630Z,1761364882.630 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:22.631Z,1761364882.631 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:22.662Z,1761364882.662 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:22.663Z,1761364882.663 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:22.850Z,1761364882.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890677,0.451657,-0.051962],[-0.454561,0.886777,-0.083675],[0.008286,0.098148,0.995137]]
2025-10-25T04:01:22.866Z,1761364882.866 [DAT](INFO): DAT read: TxSync time:04:01:22.1717

2025-10-25T04:01:22.899Z,1761364882.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 218.699997 m,
 deltaT: 3.785145 s,
 deltaX: 19.500000 m,
 approachRate: 5.151718 m/s,
 rangeRepo size: 4
2025-10-25T04:01:22.900Z,1761364882.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:22.907Z,1761364882.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 168.298645 m,
      bearing: 333.297872 deg,
      approach rate: -0.510733 m/s,
      LOS rate: -0.013397 deg/s,
      cmd heading: 332.885880 deg,
      new cmd heading: 332.869029 deg.

2025-10-25T04:01:22.908Z,1761364882.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809660 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:23.237Z,1761364883.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890549,0.451807,-0.052857],[-0.454800,0.886629,-0.083944],[0.008938,0.098795,0.995068]]
2025-10-25T04:01:23.271Z,1761364883.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:23.274Z,1761364883.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 168.102600 m,
      bearing: 333.292744 deg,
      approach rate: -0.526172 m/s,
      LOS rate: -0.013779 deg/s,
      cmd heading: 332.869023 deg,
      new cmd heading: 332.853621 deg.

2025-10-25T04:01:23.275Z,1761364883.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809391 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:23.645Z,1761364883.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890376,0.452501,-0.049743],[-0.455139,0.887023,-0.077713],[0.008958,0.091834,0.995734]]
2025-10-25T04:01:23.683Z,1761364883.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:23.685Z,1761364883.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:23.688Z,1761364883.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 167.895172 m,
      bearing: 333.282535 deg,
      approach rate: -0.500879 m/s,
      LOS rate: -0.024683 deg/s,
      cmd heading: 332.853614 deg,
      new cmd heading: 332.822948 deg.

2025-10-25T04:01:23.689Z,1761364883.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808856 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:23.873Z,1761364883.873 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:23.873Z,1761364883.873 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:23.874Z,1761364883.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:24.045Z,1761364884.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891850,0.449511,-0.050439],[-0.452230,0.888452,-0.078368],[0.009586,0.092703,0.995648]]
2025-10-25T04:01:24.083Z,1761364884.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:24.094Z,1761364884.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 167.710846 m,
      bearing: 333.273234 deg,
      approach rate: -0.463279 m/s,
      LOS rate: -0.023401 deg/s,
      cmd heading: 332.822961 deg,
      new cmd heading: 332.795028 deg.

2025-10-25T04:01:24.095Z,1761364884.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808369 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:24.126Z,1761364884.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498140
2025-10-25T04:01:24.381Z,1761364884.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752048
2025-10-25T04:01:24.450Z,1761364884.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893307,0.446673,-0.049862],[-0.449358,0.889827,-0.079284],[0.008955,0.093231,0.995604]]
2025-10-25T04:01:24.498Z,1761364884.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:24.505Z,1761364884.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 167.510056 m,
      bearing: 333.260530 deg,
      approach rate: -0.485781 m/s,
      LOS rate: -0.030773 deg/s,
      cmd heading: 332.795039 deg,
      new cmd heading: 332.756880 deg.

2025-10-25T04:01:24.507Z,1761364884.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807703 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:24.632Z,1761364884.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004341
2025-10-25T04:01:24.859Z,1761364884.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894600,0.444188,-0.048875],[-0.446797,0.891043,-0.080094],[0.007973,0.093489,0.995588]]
2025-10-25T04:01:24.879Z,1761364884.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:24.882Z,1761364884.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254309
2025-10-25T04:01:24.884Z,1761364884.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 167.332428 m,
      bearing: 333.249087 deg,
      approach rate: -0.464538 m/s,
      LOS rate: -0.029958 deg/s,
      cmd heading: 332.756872 deg,
      new cmd heading: 332.722506 deg.

2025-10-25T04:01:24.886Z,1761364884.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807103 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:25.134Z,1761364885.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506060
2025-10-25T04:01:25.257Z,1761364885.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895404,0.442656,-0.048024],[-0.445195,0.891816,-0.080410],[0.007235,0.093380,0.995604]]
2025-10-25T04:01:25.277Z,1761364885.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:25.282Z,1761364885.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 167.147705 m,
      bearing: 333.237043 deg,
      approach rate: -0.464163 m/s,
      LOS rate: -0.030297 deg/s,
      cmd heading: 332.722502 deg,
      new cmd heading: 332.686330 deg.

2025-10-25T04:01:25.284Z,1761364885.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806472 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:25.393Z,1761364885.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764138
2025-10-25T04:01:25.643Z,1761364885.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015481
2025-10-25T04:01:25.727Z,1761364885.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:25.729Z,1761364885.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:25.733Z,1761364885.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 166.937561 m,
      bearing: 333.223894 deg,
      approach rate: -0.464872 m/s,
      LOS rate: -0.029124 deg/s,
      cmd heading: 332.686329 deg,
      new cmd heading: 332.646834 deg.

2025-10-25T04:01:25.734Z,1761364885.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805782 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:25.894Z,1761364885.894 [DAT](INFO): DAT read: Rx Time:04:01:24.8373

2025-10-25T04:01:25.894Z,1761364885.894 [DAT](INFO): Rx dataTimestamp_ set to:1761364885.894017
2025-10-25T04:01:25.895Z,1761364885.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267228
2025-10-25T04:01:26.065Z,1761364886.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896053,0.441538,-0.046183],[-0.443903,0.892562,-0.079264],[0.006223,0.091526,0.995783]]
2025-10-25T04:01:26.102Z,1761364886.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.26 m.
2025-10-25T04:01:26.104Z,1761364886.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.263931 m,
      nav range: 166.764252 m,
      bearing: 333.212936 deg,
      approach rate: -0.464862 m/s,
      LOS rate: -0.029423 deg/s,
      cmd heading: 332.646824 deg,
      new cmd heading: 332.613915 deg.

2025-10-25T04:01:26.106Z,1761364886.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805208 target range: 198.263931 and range: 199.20 m.
2025-10-25T04:01:26.147Z,1761364886.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519055
2025-10-25T04:01:26.427Z,1761364886.427 [DAT](INFO): DAT read: 04:01:24.8374 LVL= 20976, 29281, 19186, 26899, AGC= 68, IDX= 411,-0.21, 1.021,-0.176, 1.113, 0.169, PHS= 0.940,-0.297, 0.941, RAW= 150.0, -24.3, CAL= 154.4, -30.9, ROT= 355.6,  30.9

2025-10-25T04:01:26.432Z,1761364886.432 [DAT](INFO): got valid direction response:
 04:01:24.8374 LVL= 20976, 29281, 19186, 26899, AGC= 68, IDX= 411,-0.21, 1.021,-0.176, 1.113, 0.169, PHS= 0.940,-0.297, 0.941, RAW= 150.0, -24.3, CAL= 154.4, -30.9, ROT= 355.6,  30.9

2025-10-25T04:01:26.438Z,1761364886.438 [DAT](INFO): DAT read: Bearing 355.6,  30.9 (Local)

2025-10-25T04:01:26.439Z,1761364886.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  30.9 (Local)

2025-10-25T04:01:26.444Z,1761364886.444 [DAT](INFO): DAT read: Range 10 to 50 : 195.4 m  (Round-trip  260.6 ms) speed  0.8 m/s

2025-10-25T04:01:26.447Z,1761364886.447 [DAT](INFO): DAT read: user:275>

2025-10-25T04:01:26.448Z,1761364886.448 [DAT](INFO): DAT read: Tx time:04:01:25.9226

2025-10-25T04:01:26.448Z,1761364886.448 [DAT](INFO): Ping request sent.
2025-10-25T04:01:26.449Z,1761364886.449 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:26.449Z,1761364886.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:26.450Z,1761364886.450 [DAT](INFO): direction in FSK: [0.855536,-0.065830,-0.513541]
2025-10-25T04:01:26.450Z,1761364886.450 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:26.451Z,1761364886.451 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:26.468Z,1761364886.468 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:26.507Z,1761364886.507 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:26.652Z,1761364886.652 [DAT](INFO): DAT read: TxSync time:04:01:25.9218

2025-10-25T04:01:26.666Z,1761364886.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.399994 m,
      deltaT: 7.570144 s,
      deltaX: -3.800003 m,
      approachRate: -0.501972 m/s,
      rangeRepo size: 4

2025-10-25T04:01:26.668Z,1761364886.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.483429 m,
      bearing: 332.408738 deg,
      lat: 36.779427 deg,
      lon: -121.859797 deg,
      deltaT: 7.570144 s,
      deltaX: -3.780502 m,
      approachRate: -0.499396 m/s,
      posRepo size: 4

2025-10-25T04:01:26.673Z,1761364886.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:26.675Z,1761364886.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 171.570938 m,
      bearing: 332.250386 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029423 deg/s,
      cmd heading: 332.613902 deg,
      new cmd heading: 332.564193 deg.

2025-10-25T04:01:26.676Z,1761364886.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804340 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:26.924Z,1761364886.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895933,0.441921,-0.044819],[-0.444151,0.892597,-0.077460],[0.005774,0.089306,0.995988]]
2025-10-25T04:01:26.943Z,1761364886.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:26.947Z,1761364886.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 171.418671 m,
      bearing: 332.242877 deg,
      approach rate: -0.547551 m/s,
      LOS rate: -0.027029 deg/s,
      cmd heading: 332.564206 deg,
      new cmd heading: 332.541656 deg.

2025-10-25T04:01:26.948Z,1761364886.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803947 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:27.326Z,1761364887.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894071,0.445658,-0.045008],[-0.447868,0.891037,-0.073938],[0.007153,0.086263,0.996247]]
2025-10-25T04:01:27.345Z,1761364887.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:27.349Z,1761364887.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 171.222244 m,
      bearing: 332.233454 deg,
      approach rate: -0.488200 m/s,
      LOS rate: -0.023447 deg/s,
      cmd heading: 332.541666 deg,
      new cmd heading: 332.513365 deg.

2025-10-25T04:01:27.350Z,1761364887.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803453 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:27.728Z,1761364887.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893771,0.446163,-0.045955],[-0.448446,0.890816,-0.073097],[0.008324,0.085940,0.996266]]
2025-10-25T04:01:27.778Z,1761364887.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:27.782Z,1761364887.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:27.784Z,1761364887.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 170.999130 m,
      bearing: 332.228601 deg,
      approach rate: -0.511359 m/s,
      LOS rate: -0.011135 deg/s,
      cmd heading: 332.513362 deg,
      new cmd heading: 332.498787 deg.

2025-10-25T04:01:27.785Z,1761364887.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803199 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:27.909Z,1761364887.909 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:27.909Z,1761364887.909 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:27.910Z,1761364887.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:28.132Z,1761364888.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892733,0.448215,-0.046174],[-0.450494,0.889926,-0.071317],[0.009126,0.084468,0.996384]]
2025-10-25T04:01:28.162Z,1761364888.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713201
2025-10-25T04:01:28.173Z,1761364888.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:28.176Z,1761364888.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 170.797073 m,
      bearing: 332.224358 deg,
      approach rate: -0.522446 m/s,
      LOS rate: -0.010984 deg/s,
      cmd heading: 332.498800 deg,
      new cmd heading: 332.486056 deg.

2025-10-25T04:01:28.177Z,1761364888.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802977 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:28.417Z,1761364888.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968009
2025-10-25T04:01:28.536Z,1761364888.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892263,0.449213,-0.045550],[-0.451438,0.889439,-0.071424],[0.008429,0.084292,0.996405]]
2025-10-25T04:01:28.608Z,1761364888.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:28.611Z,1761364888.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 170.549835 m,
      bearing: 332.225255 deg,
      approach rate: -0.562227 m/s,
      LOS rate: 0.002042 deg/s,
      cmd heading: 332.486068 deg,
      new cmd heading: 332.488762 deg.

2025-10-25T04:01:28.612Z,1761364888.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803024 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:28.666Z,1761364888.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217718
2025-10-25T04:01:28.918Z,1761364888.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469183
2025-10-25T04:01:28.992Z,1761364888.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:28.995Z,1761364888.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 170.335892 m,
      bearing: 332.226033 deg,
      approach rate: -0.557181 m/s,
      LOS rate: 0.002029 deg/s,
      cmd heading: 332.488773 deg,
      new cmd heading: 332.491110 deg.

2025-10-25T04:01:28.996Z,1761364888.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803065 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:29.170Z,1761364889.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721360
2025-10-25T04:01:29.347Z,1761364889.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890152,0.453465,-0.044698],[-0.455585,0.887520,-0.068924],[0.008416,0.081717,0.996620]]
2025-10-25T04:01:29.373Z,1761364889.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:29.376Z,1761364889.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 170.124573 m,
      bearing: 332.227146 deg,
      approach rate: -0.555049 m/s,
      LOS rate: 0.002927 deg/s,
      cmd heading: 332.491123 deg,
      new cmd heading: 332.494466 deg.

2025-10-25T04:01:29.377Z,1761364889.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803123 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:29.423Z,1761364889.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974579
2025-10-25T04:01:29.674Z,1761364889.674 [DAT](INFO): DAT read: Rx Time:04:01:28.5842

2025-10-25T04:01:29.674Z,1761364889.674 [DAT](INFO): Rx dataTimestamp_ set to:1761364889.673690
2025-10-25T04:01:29.674Z,1761364889.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226121
2025-10-25T04:01:29.753Z,1761364889.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888939,0.455811,-0.044995],[-0.457945,0.886334,-0.068547],[0.008636,0.081539,0.996633]]
2025-10-25T04:01:29.799Z,1761364889.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:29.801Z,1761364889.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:29.804Z,1761364889.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 169.868011 m,
      bearing: 332.233238 deg,
      approach rate: -0.599355 m/s,
      LOS rate: 0.014253 deg/s,
      cmd heading: 332.494456 deg,
      new cmd heading: 332.512759 deg.

2025-10-25T04:01:29.805Z,1761364889.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803442 target range: 194.483429 and range: 195.40 m.
2025-10-25T04:01:29.926Z,1761364889.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477238
2025-10-25T04:01:30.158Z,1761364890.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886025,0.461242,-0.047065],[-0.463545,0.883301,-0.070046],[0.009264,0.083879,0.996433]]
2025-10-25T04:01:30.184Z,1761364890.184 [DAT](INFO): DAT read: 04:01:28.5842 LVL= 16608, 27553, 14546, 23843, AGC= 64, IDX= 409, 0.08,-0.670,-2.152,-0.784,-1.122, PHS= 0.53, 0.334, RAW= 142.9,   1.5, CAL= 146.7,  -7.2, ROT=   3.3,   7.2

2025-10-25T04:01:30.185Z,1761364890.185 [DAT](INFO): unknown deviceResponse_: 04:01:28.5842 LVL= 16608, 27553, 14546, 23843, AGC= 64, IDX= 409, 0.08,-0.670,-2.152,-0.784,-1.122, PHS= 0.53, 0.334, RAW= 142.9,   1.5, CAL= 146.7,  -7.2, ROT=   3.3,   7.2

2025-10-25T04:01:30.186Z,1761364890.186 [DAT](INFO): DAT read: Bearing   3.3,   7.2 (Local)

2025-10-25T04:01:30.187Z,1761364890.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,   7.2 (Local)

2025-10-25T04:01:30.188Z,1761364890.188 [DAT](INFO): DAT read: Range 10 to 50 : 193.1 m  (Round-trip  257.5 ms) speed  0.3 m/s

2025-10-25T04:01:30.190Z,1761364890.190 [DAT](INFO): DAT read: user:276>

2025-10-25T04:01:30.190Z,1761364890.190 [DAT](INFO): DAT read: Tx time:04:01:29.6726

2025-10-25T04:01:30.191Z,1761364890.191 [DAT](INFO): Ping request sent.
2025-10-25T04:01:30.191Z,1761364890.191 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:30.191Z,1761364890.191 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:01:30.191Z,1761364890.191 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:30.192Z,1761364890.192 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:30.212Z,1761364890.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.100006 m,
      deltaT: 3.777962 s,
      deltaX: -2.299988 m,
      approachRate: -0.608791 m/s,
      rangeRepo size: 4

2025-10-25T04:01:30.217Z,1761364890.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:30.220Z,1761364890.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 169.640976 m,
      bearing: 332.239121 deg,
      approach rate: -0.553298 m/s,
      LOS rate: 0.014356 deg/s,
      cmd heading: 332.512761 deg,
      new cmd heading: 332.530433 deg.

2025-10-25T04:01:30.225Z,1761364890.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803751 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:30.431Z,1761364890.431 [DAT](INFO): DAT read: TxSync time:04:01:29.6718

2025-10-25T04:01:30.573Z,1761364890.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884319,0.464302,-0.049024],[-0.466770,0.881526,-0.070982],[0.010259,0.085654,0.996272]]
2025-10-25T04:01:30.691Z,1761364890.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:30.702Z,1761364890.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 169.334732 m,
      bearing: 332.249500 deg,
      approach rate: -0.638314 m/s,
      LOS rate: 0.021673 deg/s,
      cmd heading: 332.530437 deg,
      new cmd heading: 332.561631 deg.

2025-10-25T04:01:30.703Z,1761364890.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804296 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:30.986Z,1761364890.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883217,0.466373,-0.049244],[-0.468833,0.880579,-0.069107],[0.011133,0.084123,0.996393]]
2025-10-25T04:01:31.043Z,1761364891.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:31.054Z,1761364891.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 169.130112 m,
      bearing: 332.256623 deg,
      approach rate: -0.581827 m/s,
      LOS rate: 0.020279 deg/s,
      cmd heading: 332.561637 deg,
      new cmd heading: 332.583033 deg.

2025-10-25T04:01:31.055Z,1761364891.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804669 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:31.395Z,1761364891.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882489,0.467351,-0.052876],[-0.470147,0.879705,-0.071283],[0.013201,0.087766,0.996054]]
2025-10-25T04:01:31.416Z,1761364891.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:31.419Z,1761364891.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 168.876343 m,
      bearing: 332.265601 deg,
      approach rate: -0.679590 m/s,
      LOS rate: 0.024077 deg/s,
      cmd heading: 332.583030 deg,
      new cmd heading: 332.610002 deg.

2025-10-25T04:01:31.420Z,1761364891.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805140 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:31.792Z,1761364891.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881985,0.468100,-0.054625],[-0.471079,0.879028,-0.073443],[0.013639,0.090509,0.995802]]
2025-10-25T04:01:31.838Z,1761364891.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:31.840Z,1761364891.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:31.842Z,1761364891.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 168.612534 m,
      bearing: 332.275844 deg,
      approach rate: -0.622631 m/s,
      LOS rate: 0.024214 deg/s,
      cmd heading: 332.609995 deg,
      new cmd heading: 332.640774 deg.

2025-10-25T04:01:31.843Z,1761364891.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805677 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:31.942Z,1761364891.942 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:31.942Z,1761364891.942 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:31.943Z,1761364891.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:32.169Z,1761364892.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:01:32.194Z,1761364892.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002655
2025-10-25T04:01:32.212Z,1761364892.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881693,0.468520,-0.055736],[-0.471625,0.878579,-0.075290],[0.013694,0.092669,0.995603]]
2025-10-25T04:01:32.233Z,1761364892.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:32.235Z,1761364892.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 168.368439 m,
      bearing: 332.285398 deg,
      approach rate: -0.621535 m/s,
      LOS rate: 0.024363 deg/s,
      cmd heading: 332.640786 deg,
      new cmd heading: 332.669490 deg.

2025-10-25T04:01:32.236Z,1761364892.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806178 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:32.445Z,1761364892.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254574
2025-10-25T04:01:32.668Z,1761364892.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:32.671Z,1761364892.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 168.106201 m,
      bearing: 332.294850 deg,
      approach rate: -0.602216 m/s,
      LOS rate: 0.021740 deg/s,
      cmd heading: 332.669500 deg,
      new cmd heading: 332.697900 deg.

2025-10-25T04:01:32.672Z,1761364892.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806674 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:32.698Z,1761364892.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506759
2025-10-25T04:01:32.950Z,1761364892.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758739
2025-10-25T04:01:33.005Z,1761364893.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881245,0.469064,-0.058186],[-0.472432,0.877943,-0.077619],[0.014676,0.095890,0.995284]]
2025-10-25T04:01:33.040Z,1761364893.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:33.042Z,1761364893.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 167.883148 m,
      bearing: 332.302983 deg,
      approach rate: -0.600090 m/s,
      LOS rate: 0.021910 deg/s,
      cmd heading: 332.697913 deg,
      new cmd heading: 332.722345 deg.

2025-10-25T04:01:33.043Z,1761364893.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807100 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:33.173Z,1761364893.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:01:33.202Z,1761364893.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010686
2025-10-25T04:01:33.412Z,1761364893.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881039,0.469319,-0.059242],[-0.472802,0.877654,-0.078624],[0.015094,0.097281,0.995143]]
2025-10-25T04:01:33.450Z,1761364893.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:33.454Z,1761364893.454 [DAT](INFO): DAT read: Rx Time:04:01:32.3327

2025-10-25T04:01:33.454Z,1761364893.454 [DAT](INFO): Rx dataTimestamp_ set to:1761364893.454133
2025-10-25T04:01:33.455Z,1761364893.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264095
2025-10-25T04:01:33.456Z,1761364893.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 167.647690 m,
      bearing: 332.311627 deg,
      approach rate: -0.573784 m/s,
      LOS rate: 0.021093 deg/s,
      cmd heading: 332.722338 deg,
      new cmd heading: 332.748305 deg.

2025-10-25T04:01:33.461Z,1761364893.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807553 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:33.706Z,1761364893.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514683
2025-10-25T04:01:33.821Z,1761364893.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881379,0.468613,-0.059782],[-0.472166,0.877915,-0.079535],[0.015213,0.098328,0.995038]]
2025-10-25T04:01:33.868Z,1761364893.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:33.870Z,1761364893.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.48 m.
2025-10-25T04:01:33.873Z,1761364893.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.483429 m,
      nav range: 167.398911 m,
      bearing: 332.316682 deg,
      approach rate: -0.591506 m/s,
      LOS rate: 0.012037 deg/s,
      cmd heading: 332.748293 deg,
      new cmd heading: 332.763481 deg.

2025-10-25T04:01:33.874Z,1761364893.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807818 target range: 194.483429 and range: 193.10 m.
2025-10-25T04:01:33.968Z,1761364893.968 [DAT](INFO): DAT read: 04:01:32.3327 LVL= 23024, 30593, 21698, 29763, AGC= 65, IDX= 425,-0.07,-1.938, 2.922,-2.016,-2.355, PHS= 0.504,-0.960, 0.336, RAW= 144.0,   1.7, CAL= 147.6,  -7.0, ROT=   2.4,   7.0

2025-10-25T04:01:33.969Z,1761364893.969 [DAT](INFO): got valid direction response:
 04:01:32.3327 LVL= 23024, 30593, 21698, 29763, AGC= 65, IDX= 425,-0.07,-1.938, 2.922,-2.016,-2.355, PHS= 0.504,-0.960, 0.336, RAW= 144.0,   1.7, CAL= 147.6,  -7.0, ROT=   2.4,   7.0

2025-10-25T04:01:33.970Z,1761364893.970 [DAT](INFO): DAT read: Bearing   2.4,   7.0 (Local)

2025-10-25T04:01:33.970Z,1761364893.970 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,   7.0 (Local)

2025-10-25T04:01:33.972Z,1761364893.972 [DAT](INFO): DAT read: Range 10 to 50 : 191.9 m  (Round-trip  255.9 ms) speed  0.4 m/s

2025-10-25T04:01:33.974Z,1761364893.974 [DAT](INFO): DAT read: user:277>

2025-10-25T04:01:33.975Z,1761364893.975 [DAT](INFO): DAT read: Tx time:04:01:33.4226

2025-10-25T04:01:33.975Z,1761364893.975 [DAT](INFO): Ping request sent.
2025-10-25T04:01:33.975Z,1761364893.975 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:33.975Z,1761364893.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:33.997Z,1761364893.997 [DAT](INFO): direction in FSK: [0.991676,0.041564,-0.121869]
2025-10-25T04:01:33.997Z,1761364893.997 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:33.998Z,1761364893.998 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:34.022Z,1761364894.022 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:34.022Z,1761364894.022 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:34.210Z,1761364894.210 [DAT](INFO): DAT read: TxSync time:04:01:33.4218

2025-10-25T04:01:34.220Z,1761364894.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881589,0.468127,-0.060477],[-0.471766,0.878040,-0.080522],[0.015407,0.099518,0.994917]]
2025-10-25T04:01:34.279Z,1761364894.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.899994 m,
      deltaT: 3.780396 s,
      deltaX: -1.200012 m,
      approachRate: -0.317430 m/s,
      rangeRepo size: 4

2025-10-25T04:01:34.292Z,1761364894.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.000717 m,
      bearing: 334.929459 deg,
      lat: 36.779453 deg,
      lon: -121.859829 deg,
      deltaT: 7.558358 s,
      deltaX: -3.482712 m,
      approachRate: -0.460776 m/s,
      posRepo size: 4

2025-10-25T04:01:34.297Z,1761364894.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:34.306Z,1761364894.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 171.118301 m,
      bearing: 331.933199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012037 deg/s,
      cmd heading: 332.763483 deg,
      new cmd heading: 332.778187 deg.

2025-10-25T04:01:34.308Z,1761364894.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808075 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:34.624Z,1761364894.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880984,0.469867,-0.055619],[-0.472855,0.878462,-0.068648],[0.016604,0.086777,0.996089]]
2025-10-25T04:01:34.669Z,1761364894.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:34.671Z,1761364894.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 170.895126 m,
      bearing: 331.933812 deg,
      approach rate: -0.570931 m/s,
      LOS rate: 0.001569 deg/s,
      cmd heading: 332.778182 deg,
      new cmd heading: 332.780022 deg.

2025-10-25T04:01:34.672Z,1761364894.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808107 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:35.059Z,1761364895.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:35.062Z,1761364895.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 170.683762 m,
      bearing: 331.934393 deg,
      approach rate: -0.541641 m/s,
      LOS rate: 0.001492 deg/s,
      cmd heading: 332.780012 deg,
      new cmd heading: 332.781759 deg.

2025-10-25T04:01:35.064Z,1761364895.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808137 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:35.430Z,1761364895.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883004,0.465885,-0.057052],[-0.469045,0.880352,-0.070548],[0.017359,0.089054,0.995876]]
2025-10-25T04:01:35.456Z,1761364895.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:35.459Z,1761364895.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 170.470016 m,
      bearing: 331.934676 deg,
      approach rate: -0.538141 m/s,
      LOS rate: 0.000713 deg/s,
      cmd heading: 332.781761 deg,
      new cmd heading: 332.782611 deg.

2025-10-25T04:01:35.460Z,1761364895.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808152 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:35.840Z,1761364895.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884767,0.462423,-0.057906],[-0.465734,0.881803,-0.074267],[0.016719,0.092678,0.995556]]
2025-10-25T04:01:35.892Z,1761364895.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:35.894Z,1761364895.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:35.899Z,1761364895.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 170.245438 m,
      bearing: 331.931853 deg,
      approach rate: -0.512389 m/s,
      LOS rate: -0.006451 deg/s,
      cmd heading: 332.782608 deg,
      new cmd heading: 332.774126 deg.

2025-10-25T04:01:35.900Z,1761364895.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808004 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:35.974Z,1761364895.974 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:35.974Z,1761364895.974 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:35.975Z,1761364895.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:36.226Z,1761364896.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250483
2025-10-25T04:01:36.239Z,1761364896.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886585,0.458808,-0.058832],[-0.462281,0.883304,-0.077916],[0.016218,0.096276,0.995223]]
2025-10-25T04:01:36.285Z,1761364896.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:36.294Z,1761364896.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 170.059219 m,
      bearing: 331.929264 deg,
      approach rate: -0.482866 m/s,
      LOS rate: -0.006720 deg/s,
      cmd heading: 332.774138 deg,
      new cmd heading: 332.766363 deg.

2025-10-25T04:01:36.295Z,1761364896.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807868 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:36.478Z,1761364896.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502419
2025-10-25T04:01:36.646Z,1761364896.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888251,0.455420,-0.060031],[-0.459080,0.884651,-0.081476],[0.016001,0.099931,0.994866]]
2025-10-25T04:01:36.709Z,1761364896.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:36.712Z,1761364896.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 169.840118 m,
      bearing: 331.923456 deg,
      approach rate: -0.510562 m/s,
      LOS rate: -0.013551 deg/s,
      cmd heading: 332.766352 deg,
      new cmd heading: 332.748907 deg.

2025-10-25T04:01:36.725Z,1761364896.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807564 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:36.730Z,1761364896.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754641
2025-10-25T04:01:36.983Z,1761364896.983 [DAT](INFO): DAT read: Rx Time:04:01:36.0801

2025-10-25T04:01:36.983Z,1761364896.983 [DAT](INFO): Rx dataTimestamp_ set to:1761364896.983168
2025-10-25T04:01:36.984Z,1761364896.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008902
2025-10-25T04:01:37.111Z,1761364897.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:37.115Z,1761364897.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 169.653900 m,
      bearing: 331.918508 deg,
      approach rate: -0.463292 m/s,
      LOS rate: -0.012323 deg/s,
      cmd heading: 332.748894 deg,
      new cmd heading: 332.734034 deg.

2025-10-25T04:01:37.116Z,1761364897.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807304 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:37.233Z,1761364897.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258388
2025-10-25T04:01:37.450Z,1761364897.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890128,0.451559,-0.061366],[-0.455423,0.886245,-0.084614],[0.016177,0.103265,0.994522]]
2025-10-25T04:01:37.486Z,1761364897.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510574
2025-10-25T04:01:37.490Z,1761364897.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.00 m.
2025-10-25T04:01:37.500Z,1761364897.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.000717 m,
      nav range: 169.470764 m,
      bearing: 331.913376 deg,
      approach rate: -0.483092 m/s,
      LOS rate: -0.013552 deg/s,
      cmd heading: 332.734031 deg,
      new cmd heading: 332.718619 deg.

2025-10-25T04:01:37.507Z,1761364897.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807035 target range: 191.000717 and range: 191.90 m.
2025-10-25T04:01:37.759Z,1761364897.759 [DAT](INFO): DAT read: 04:01:36.0801 LVL= 22352, 32753, 22002, 32755, AGC= 65, IDX= 414,-0.27,-0.617,-2.090,-0.656,-1.021, PHS= 0.492,-1.022, 0.362, RAW= 145.5,   2.4, CAL= 148.8,  -6.4, ROT=   1.2,   6.4

2025-10-25T04:01:37.762Z,1761364897.762 [DAT](INFO): got valid direction response:
 04:01:36.0801 LVL= 22352, 32753, 22002, 32755, AGC= 65, IDX= 414,-0.27,-0.617,-2.090,-0.656,-1.021, PHS= 0.492,-1.022, 0.362, RAW= 145.5,   2.4, CAL= 148.8,  -6.4, ROT=   1.2,   6.4

2025-10-25T04:01:37.763Z,1761364897.763 [DAT](INFO): DAT read: Bearing   1.2,   6.4 (Local)

2025-10-25T04:01:37.763Z,1761364897.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   6.4 (Local)

2025-10-25T04:01:37.765Z,1761364897.765 [DAT](INFO): DAT read: Range 10 to 50 : 189.9 m  (Round-trip  253.3 ms) speed  0.6 m/s

2025-10-25T04:01:37.766Z,1761364897.766 [DAT](INFO): DAT read: user:278>

2025-10-25T04:01:37.767Z,1761364897.767 [DAT](INFO): DAT read: Tx time:04:01:37.1727

2025-10-25T04:01:37.767Z,1761364897.767 [DAT](INFO): Ping request sent.
2025-10-25T04:01:37.767Z,1761364897.767 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:37.768Z,1761364897.768 [DAT](INFO): DAT read: TxSync time:04:01:37.1719

2025-10-25T04:01:37.769Z,1761364897.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:37.772Z,1761364897.772 [DAT](INFO): direction in FSK: [0.993550,0.020812,-0.111469]
2025-10-25T04:01:37.772Z,1761364897.772 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:37.774Z,1761364897.774 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:37.781Z,1761364897.781 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:37.781Z,1761364897.781 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:37.890Z,1761364897.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890483,0.450979,-0.060487],[-0.454737,0.886702,-0.083511],[0.015972,0.101871,0.994669]]
2025-10-25T04:01:37.990Z,1761364897.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 189.899994 m,
      deltaT: 3.780632 s,
      deltaX: -2.000000 m,
      approachRate: -0.529012 m/s,
      rangeRepo size: 4

2025-10-25T04:01:37.992Z,1761364897.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.011673 m,
      bearing: 334.793505 deg,
      lat: 36.779453 deg,
      lon: -121.859829 deg,
      deltaT: 3.780632 s,
      deltaX: -1.989044 m,
      approachRate: -0.526114 m/s,
      posRepo size: 4

2025-10-25T04:01:37.997Z,1761364897.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:38.000Z,1761364898.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 169.237213 m,
      bearing: 331.905984 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013552 deg/s,
      cmd heading: 332.718623 deg,
      new cmd heading: 332.698855 deg.

2025-10-25T04:01:38.014Z,1761364898.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806690 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:38.290Z,1761364898.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889981,0.451992,-0.060304],[-0.455686,0.886449,-0.080989],[0.016850,0.099558,0.994889]]
2025-10-25T04:01:38.334Z,1761364898.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:38.336Z,1761364898.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:38.343Z,1761364898.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 169.068207 m,
      bearing: 331.900687 deg,
      approach rate: -0.470072 m/s,
      LOS rate: -0.014749 deg/s,
      cmd heading: 332.698842 deg,
      new cmd heading: 332.682934 deg.

2025-10-25T04:01:38.344Z,1761364898.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806413 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:38.497Z,1761364898.497 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:38.497Z,1761364898.497 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:38.498Z,1761364898.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:38.693Z,1761364898.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888529,0.454499,-0.062824],[-0.458481,0.884778,-0.083442],[0.017661,0.102944,0.994530]]
2025-10-25T04:01:38.746Z,1761364898.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978372
2025-10-25T04:01:38.753Z,1761364898.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:38.762Z,1761364898.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 168.865997 m,
      bearing: 331.895039 deg,
      approach rate: -0.509764 m/s,
      LOS rate: -0.014255 deg/s,
      cmd heading: 332.682942 deg,
      new cmd heading: 332.665978 deg.

2025-10-25T04:01:38.763Z,1761364898.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806117 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:38.999Z,1761364898.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231772
2025-10-25T04:01:39.100Z,1761364899.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887679,0.456233,-0.062271],[-0.460105,0.884171,-0.080894],[0.018152,0.100460,0.994776]]
2025-10-25T04:01:39.137Z,1761364899.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:39.140Z,1761364899.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 168.670975 m,
      bearing: 331.889705 deg,
      approach rate: -0.482810 m/s,
      LOS rate: -0.013221 deg/s,
      cmd heading: 332.665975 deg,
      new cmd heading: 332.649954 deg.

2025-10-25T04:01:39.142Z,1761364899.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805837 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:39.250Z,1761364899.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482600
2025-10-25T04:01:39.501Z,1761364899.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734258
2025-10-25T04:01:39.547Z,1761364899.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:39.554Z,1761364899.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 168.479660 m,
      bearing: 331.884460 deg,
      approach rate: -0.467329 m/s,
      LOS rate: -0.012826 deg/s,
      cmd heading: 332.649965 deg,
      new cmd heading: 332.634213 deg.

2025-10-25T04:01:39.555Z,1761364899.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805562 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:39.754Z,1761364899.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986740
2025-10-25T04:01:39.968Z,1761364899.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:39.995Z,1761364899.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 168.260941 m,
      bearing: 331.879456 deg,
      approach rate: -0.518511 m/s,
      LOS rate: -0.011878 deg/s,
      cmd heading: 332.634201 deg,
      new cmd heading: 332.619170 deg.

2025-10-25T04:01:40.001Z,1761364900.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805300 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:40.006Z,1761364900.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238501
2025-10-25T04:01:40.259Z,1761364900.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491803
2025-10-25T04:01:40.317Z,1761364900.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886999,0.457938,-0.059379],[-0.461456,0.883785,-0.077344],[0.017059,0.096005,0.995235]]
2025-10-25T04:01:40.344Z,1761364900.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:40.348Z,1761364900.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:40.351Z,1761364900.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 168.070877 m,
      bearing: 331.875202 deg,
      approach rate: -0.500743 m/s,
      LOS rate: -0.011220 deg/s,
      cmd heading: 332.619175 deg,
      new cmd heading: 332.606399 deg.

2025-10-25T04:01:40.352Z,1761364900.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805077 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:40.510Z,1761364900.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742342
2025-10-25T04:01:40.718Z,1761364900.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887140,0.457623,-0.059693],[-0.461176,0.883911,-0.077572],[0.017265,0.096347,0.995198]]
2025-10-25T04:01:40.762Z,1761364900.762 [DAT](INFO): DAT read: Rx Time:04:01:39.8271

2025-10-25T04:01:40.762Z,1761364900.762 [DAT](INFO): Rx dataTimestamp_ set to:1761364900.761860
2025-10-25T04:01:40.763Z,1761364900.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995462
2025-10-25T04:01:40.785Z,1761364900.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:40.794Z,1761364900.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 167.855804 m,
      bearing: 331.872061 deg,
      approach rate: -0.497005 m/s,
      LOS rate: -0.007269 deg/s,
      cmd heading: 332.606389 deg,
      new cmd heading: 332.596952 deg.

2025-10-25T04:01:40.795Z,1761364900.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804912 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:41.015Z,1761364901.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247558
2025-10-25T04:01:41.124Z,1761364901.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886964,0.457881,-0.060325],[-0.461492,0.883760,-0.077420],[0.017863,0.096508,0.995172]]
2025-10-25T04:01:41.149Z,1761364901.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.01 m.
2025-10-25T04:01:41.174Z,1761364901.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.011673 m,
      nav range: 167.654144 m,
      bearing: 331.869132 deg,
      approach rate: -0.545752 m/s,
      LOS rate: -0.007935 deg/s,
      cmd heading: 332.596963 deg,
      new cmd heading: 332.588168 deg.

2025-10-25T04:01:41.176Z,1761364901.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804759 target range: 189.011673 and range: 189.90 m.
2025-10-25T04:01:41.269Z,1761364901.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501540
2025-10-25T04:01:41.525Z,1761364901.525 [DAT](INFO): DAT read: 04:01:39.8272 LVL= 21744, 26657, 20722, 27187, AGC= 63, IDX= 415, 0.38,-0.731,-2.165,-0.812,-1.207, PHS= 0.563,-0.912, 0.392, RAW= 143.9,  -0.6, CAL= 148.0,  -9.7, ROT=   2.0,   9.7

2025-10-25T04:01:41.526Z,1761364901.526 [DAT](INFO): got valid direction response:
 04:01:39.8272 LVL= 21744, 26657, 20722, 27187, AGC= 63, IDX= 415, 0.38,-0.731,-2.165,-0.812,-1.207, PHS= 0.563,-0.912, 0.392, RAW= 143.9,  -0.6, CAL= 148.0,  -9.7, ROT=   2.0,   9.7

2025-10-25T04:01:41.527Z,1761364901.527 [DAT](INFO): DAT read: Bearing   2.0,   9.7 (Local)

2025-10-25T04:01:41.527Z,1761364901.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   9.7 (Local)

2025-10-25T04:01:41.529Z,1761364901.529 [DAT](INFO): DAT read: Range 10 to 50 : 187.7 m  (Round-trip  250.3 ms) speed  0.2 m/s

2025-10-25T04:01:41.531Z,1761364901.531 [DAT](INFO): DAT read: user:279>

2025-10-25T04:01:41.532Z,1761364901.532 [DAT](INFO): DAT read: Tx time:04:01:40.9227

2025-10-25T04:01:41.532Z,1761364901.532 [DAT](INFO): Ping request sent.
2025-10-25T04:01:41.532Z,1761364901.532 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:41.534Z,1761364901.534 [DAT](INFO): DAT read: TxSync time:04:01:40.9219

2025-10-25T04:01:41.534Z,1761364901.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:41.535Z,1761364901.535 [DAT](INFO): direction in FSK: [0.985103,0.034401,-0.168489]
2025-10-25T04:01:41.535Z,1761364901.535 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:41.535Z,1761364901.535 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:41.540Z,1761364901.540 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:41.540Z,1761364901.540 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:41.726Z,1761364901.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.699997 m,
      deltaT: 3.778903 s,
      deltaX: -2.199997 m,
      approachRate: -0.582179 m/s,
      rangeRepo size: 4

2025-10-25T04:01:41.728Z,1761364901.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.825623 m,
      bearing: 335.438368 deg,
      lat: 36.779637 deg,
      lon: -121.859829 deg,
      deltaT: 3.778903 s,
      deltaX: -2.186050 m,
      approachRate: -0.578488 m/s,
      posRepo size: 4

2025-10-25T04:01:41.737Z,1761364901.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:41.740Z,1761364901.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 185.689728 m,
      bearing: 334.846475 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007935 deg/s,
      cmd heading: 332.588166 deg,
      new cmd heading: 332.574460 deg.

2025-10-25T04:01:41.749Z,1761364901.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804519 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:42.019Z,1761364902.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886263,0.459542,-0.057951],[-0.462773,0.883777,-0.069135],[0.019445,0.088090,0.995923]]
2025-10-25T04:01:42.110Z,1761364902.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:42.117Z,1761364902.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 185.464767 m,
      bearing: 334.846990 deg,
      approach rate: -0.584498 m/s,
      LOS rate: 0.001340 deg/s,
      cmd heading: 332.574451 deg,
      new cmd heading: 332.575999 deg.

2025-10-25T04:01:42.118Z,1761364902.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804546 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:42.419Z,1761364902.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886769,0.458415,-0.059124],[-0.461795,0.884124,-0.071202],[0.019633,0.090443,0.995708]]
2025-10-25T04:01:42.466Z,1761364902.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:42.468Z,1761364902.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:42.475Z,1761364902.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 185.282181 m,
      bearing: 334.847345 deg,
      approach rate: -0.510412 m/s,
      LOS rate: 0.000994 deg/s,
      cmd heading: 332.576008 deg,
      new cmd heading: 332.577075 deg.

2025-10-25T04:01:42.476Z,1761364902.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804565 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:42.525Z,1761364902.525 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:42.525Z,1761364902.525 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:42.526Z,1761364902.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:42.779Z,1761364902.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246511
2025-10-25T04:01:42.828Z,1761364902.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887278,0.457407,-0.059297],[-0.460819,0.884580,-0.071865],[0.019581,0.091089,0.995650]]
2025-10-25T04:01:42.872Z,1761364902.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:42.899Z,1761364902.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 185.043793 m,
      bearing: 334.847713 deg,
      approach rate: -0.590482 m/s,
      LOS rate: 0.000913 deg/s,
      cmd heading: 332.577074 deg,
      new cmd heading: 332.578179 deg.

2025-10-25T04:01:42.900Z,1761364902.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804584 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:43.031Z,1761364903.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497934
2025-10-25T04:01:43.226Z,1761364903.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888554,0.455113,-0.057829],[-0.458406,0.885802,-0.072243],[0.018346,0.090700,0.995709]]
2025-10-25T04:01:43.257Z,1761364903.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:43.260Z,1761364903.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 184.828308 m,
      bearing: 334.847864 deg,
      approach rate: -0.559368 m/s,
      LOS rate: 0.000393 deg/s,
      cmd heading: 332.578167 deg,
      new cmd heading: 332.578621 deg.

2025-10-25T04:01:43.261Z,1761364903.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804592 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:43.282Z,1761364903.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749498
2025-10-25T04:01:43.534Z,1761364903.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001348
2025-10-25T04:01:43.635Z,1761364903.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889090,0.454072,-0.057771],[-0.457384,0.886234,-0.073413],[0.017864,0.091694,0.995627]]
2025-10-25T04:01:43.710Z,1761364903.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:43.719Z,1761364903.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 184.609283 m,
      bearing: 334.847940 deg,
      approach rate: -0.490779 m/s,
      LOS rate: 0.000169 deg/s,
      cmd heading: 332.578631 deg,
      new cmd heading: 332.578857 deg.

2025-10-25T04:01:43.719Z,1761364903.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804596 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:43.787Z,1761364903.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254380
2025-10-25T04:01:44.033Z,1761364904.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889724,0.452757,-0.058331],[-0.456154,0.886728,-0.075083],[0.017729,0.093411,0.995470]]
2025-10-25T04:01:44.038Z,1761364904.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505358
2025-10-25T04:01:44.086Z,1761364904.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:44.089Z,1761364904.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 184.368820 m,
      bearing: 334.848083 deg,
      approach rate: -0.628605 m/s,
      LOS rate: 0.000375 deg/s,
      cmd heading: 332.578850 deg,
      new cmd heading: 332.579280 deg.

2025-10-25T04:01:44.090Z,1761364904.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804604 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:44.293Z,1761364904.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760484
2025-10-25T04:01:44.442Z,1761364904.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890136,0.451932,-0.058441],[-0.455366,0.887022,-0.076382],[0.017318,0.094602,0.995364]]
2025-10-25T04:01:44.462Z,1761364904.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:44.466Z,1761364904.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 184.159027 m,
      bearing: 334.848150 deg,
      approach rate: -0.557827 m/s,
      LOS rate: 0.000178 deg/s,
      cmd heading: 332.579287 deg,
      new cmd heading: 332.579488 deg.

2025-10-25T04:01:44.467Z,1761364904.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804607 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:44.544Z,1761364904.544 [DAT](INFO): DAT read: Rx Time:04:01:43.5456

2025-10-25T04:01:44.545Z,1761364904.545 [DAT](INFO): Rx dataTimestamp_ set to:1761364904.545125
2025-10-25T04:01:44.547Z,1761364904.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014175
2025-10-25T04:01:44.794Z,1761364904.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261266
2025-10-25T04:01:44.851Z,1761364904.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890149,0.451852,-0.058858],[-0.455338,0.886976,-0.077072],[0.017380,0.095405,0.995287]]
2025-10-25T04:01:44.917Z,1761364904.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:44.919Z,1761364904.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:44.922Z,1761364904.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 183.915665 m,
      bearing: 334.848574 deg,
      approach rate: -0.532403 m/s,
      LOS rate: 0.000930 deg/s,
      cmd heading: 332.579478 deg,
      new cmd heading: 332.580753 deg.

2025-10-25T04:01:44.924Z,1761364904.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804629 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:45.053Z,1761364905.053 [DAT](INFO): DAT read: 04:01:43.5456 LVL= 14992, 20961, 13586, 26147, AGC= 67, IDX= 124,-0.21, 1.998, 0.600, 1.961, 1.550, PHS= 0.536,-0.903, 0.408, RAW= 145.4,  -0.6, CAL= 149.3,  -9.6, ROT=   0.7,   9.6

2025-10-25T04:01:45.054Z,1761364905.054 [DAT](INFO): got valid direction response:
 04:01:43.5456 LVL= 14992, 20961, 13586, 26147, AGC= 67, IDX= 124,-0.21, 1.998, 0.600, 1.961, 1.550, PHS= 0.536,-0.903, 0.408, RAW= 145.4,  -0.6, CAL= 149.3,  -9.6, ROT=   0.7,   9.6

2025-10-25T04:01:45.055Z,1761364905.055 [DAT](INFO): DAT read: Bearing   0.7,   9.6 (Local)

2025-10-25T04:01:45.055Z,1761364905.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   9.6 (Local)

2025-10-25T04:01:45.057Z,1761364905.057 [DAT](INFO): DAT read: Range 10 to 50 : 164.0 m  (Round-trip  218.7 ms) speed  0.8 m/s

2025-10-25T04:01:45.058Z,1761364905.058 [DAT](INFO): DAT read: user:280>

2025-10-25T04:01:45.059Z,1761364905.059 [DAT](INFO): DAT read: Tx time:04:01:44.6727

2025-10-25T04:01:45.059Z,1761364905.059 [DAT](INFO): Ping request sent.
2025-10-25T04:01:45.059Z,1761364905.059 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:45.059Z,1761364905.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:45.060Z,1761364905.060 [DAT](INFO): direction in FSK: [0.985922,0.012046,-0.166769]
2025-10-25T04:01:45.061Z,1761364905.061 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:45.061Z,1761364905.061 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:45.065Z,1761364905.065 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:45.066Z,1761364905.066 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:45.251Z,1761364905.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890280,0.451604,-0.058787],[-0.455084,0.887106,-0.077079],[0.017341,0.095375,0.995290]]
2025-10-25T04:01:45.299Z,1761364905.299 [DAT](INFO): DAT read: TxSync time:04:01:44.6719

2025-10-25T04:01:45.321Z,1761364905.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 164.000000 m,
 deltaT: 3.528903 s,
 deltaX: -23.699997 m,
 approachRate: -6.715967 m/s,
 rangeRepo size: 4
2025-10-25T04:01:45.321Z,1761364905.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:45.324Z,1761364905.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 183.701859 m,
      bearing: 334.848929 deg,
      approach rate: -0.538702 m/s,
      LOS rate: 0.000895 deg/s,
      cmd heading: 332.580762 deg,
      new cmd heading: 332.581828 deg.

2025-10-25T04:01:45.330Z,1761364905.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804648 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:45.652Z,1761364905.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889630,0.452798,-0.059442],[-0.456317,0.886563,-0.076027],[0.018274,0.094760,0.995332]]
2025-10-25T04:01:45.745Z,1761364905.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:45.754Z,1761364905.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 183.477386 m,
      bearing: 334.849401 deg,
      approach rate: -0.528529 m/s,
      LOS rate: 0.001112 deg/s,
      cmd heading: 332.581828 deg,
      new cmd heading: 332.583245 deg.

2025-10-25T04:01:45.755Z,1761364905.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804673 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:46.054Z,1761364906.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888732,0.454093,-0.062889],[-0.458041,0.885216,-0.081180],[0.018807,0.100953,0.994713]]
2025-10-25T04:01:46.105Z,1761364906.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:46.108Z,1761364906.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 183.242783 m,
      bearing: 334.849561 deg,
      approach rate: -0.644047 m/s,
      LOS rate: 0.000439 deg/s,
      cmd heading: 332.583248 deg,
      new cmd heading: 332.583728 deg.

2025-10-25T04:01:46.113Z,1761364906.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804681 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:46.460Z,1761364906.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886990,0.457481,-0.062931],[-0.461376,0.883692,-0.078872],[0.019529,0.098993,0.994896]]
2025-10-25T04:01:46.481Z,1761364906.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:46.484Z,1761364906.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 183.034500 m,
      bearing: 334.849951 deg,
      approach rate: -0.553994 m/s,
      LOS rate: 0.001039 deg/s,
      cmd heading: 332.583740 deg,
      new cmd heading: 332.584911 deg.

2025-10-25T04:01:46.485Z,1761364906.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804702 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:46.926Z,1761364906.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:46.928Z,1761364906.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:46.931Z,1761364906.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 182.789108 m,
      bearing: 334.852817 deg,
      approach rate: -0.548400 m/s,
      LOS rate: 0.006415 deg/s,
      cmd heading: 332.584915 deg,
      new cmd heading: 332.593526 deg.

2025-10-25T04:01:46.934Z,1761364906.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804852 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:47.061Z,1761364907.061 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:47.062Z,1761364907.062 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:47.062Z,1761364907.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:47.266Z,1761364907.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887739,0.456366,-0.060413],[-0.460014,0.884418,-0.078688],[0.017520,0.097645,0.995067]]
2025-10-25T04:01:47.315Z,1761364907.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255484
2025-10-25T04:01:47.327Z,1761364907.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:47.339Z,1761364907.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 182.590515 m,
      bearing: 334.855049 deg,
      approach rate: -0.497259 m/s,
      LOS rate: 0.005594 deg/s,
      cmd heading: 332.593521 deg,
      new cmd heading: 332.600223 deg.

2025-10-25T04:01:47.339Z,1761364907.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804969 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:47.566Z,1761364907.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506479
2025-10-25T04:01:47.670Z,1761364907.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888032,0.455937,-0.059331],[-0.459470,0.884762,-0.078002],[0.016930,0.096529,0.995186]]
2025-10-25T04:01:47.722Z,1761364907.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:47.746Z,1761364907.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 182.372986 m,
      bearing: 334.857459 deg,
      approach rate: -0.559388 m/s,
      LOS rate: 0.006206 deg/s,
      cmd heading: 332.600214 deg,
      new cmd heading: 332.607454 deg.

2025-10-25T04:01:47.756Z,1761364907.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805095 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:47.818Z,1761364907.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758519
2025-10-25T04:01:48.069Z,1761364908.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010404
2025-10-25T04:01:48.074Z,1761364908.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888303,0.455509,-0.058568],[-0.458962,0.885065,-0.077548],[0.016513,0.095767,0.995267]]
2025-10-25T04:01:48.132Z,1761364908.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:48.135Z,1761364908.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 182.126938 m,
      bearing: 334.862661 deg,
      approach rate: -0.591850 m/s,
      LOS rate: 0.012530 deg/s,
      cmd heading: 332.607454 deg,
      new cmd heading: 332.623082 deg.

2025-10-25T04:01:48.136Z,1761364908.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805368 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:48.322Z,1761364908.322 [DAT](INFO): DAT read: Rx Time:04:01:47.3525

2025-10-25T04:01:48.322Z,1761364908.322 [DAT](INFO): Rx dataTimestamp_ set to:1761364908.321767
2025-10-25T04:01:48.323Z,1761364908.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263498
2025-10-25T04:01:48.477Z,1761364908.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888066,0.456090,-0.057625],[-0.459430,0.884934,-0.076265],[0.016210,0.094203,0.995421]]
2025-10-25T04:01:48.505Z,1761364908.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.83 m.
2025-10-25T04:01:48.507Z,1761364908.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.825623 m,
      nav range: 181.920563 m,
      bearing: 334.867076 deg,
      approach rate: -0.554072 m/s,
      LOS rate: 0.011865 deg/s,
      cmd heading: 332.623082 deg,
      new cmd heading: 332.636340 deg.

2025-10-25T04:01:48.509Z,1761364908.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805599 target range: 186.825623 and range: 187.70 m.
2025-10-25T04:01:48.575Z,1761364908.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515701
2025-10-25T04:01:48.839Z,1761364908.839 [DAT](INFO): DAT read: 04:01:47.3525 LVL= 23984, 28753, 18402, 20899, AGC= 68, IDX=   6,-0.07, 0.043,-0.926, 0.063,-0.923, PHS= 1.054, 0.044, 0.982, RAW= 146.3, -37.0, CAL= 149.2, -40.6, ROT=   0.8,  40.6

2025-10-25T04:01:48.841Z,1761364908.841 [DAT](INFO): got valid direction response:
 04:01:47.3525 LVL= 23984, 28753, 18402, 20899, AGC= 68, IDX=   6,-0.07, 0.043,-0.926, 0.063,-0.923, PHS= 1.054, 0.044, 0.982, RAW= 146.3, -37.0, CAL= 149.2, -40.6, ROT=   0.8,  40.6

2025-10-25T04:01:48.842Z,1761364908.842 [DAT](INFO): DAT read: Bearing   0.8,  40.6 (Local)

2025-10-25T04:01:48.842Z,1761364908.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  40.6 (Local)

2025-10-25T04:01:48.843Z,1761364908.843 [DAT](INFO): DAT read: Range 10 to 50 : 206.7 m  (Round-trip  275.6 ms) speed  0.4 m/s

2025-10-25T04:01:48.844Z,1761364908.844 [DAT](INFO): DAT read: user:281>

2025-10-25T04:01:48.845Z,1761364908.845 [DAT](INFO): DAT read: Tx time:04:01:48.4727

2025-10-25T04:01:48.845Z,1761364908.845 [DAT](INFO): Ping request sent.
2025-10-25T04:01:48.845Z,1761364908.845 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:48.846Z,1761364908.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:48.848Z,1761364908.848 [DAT](INFO): direction in FSK: [0.759197,0.010601,-0.650774]
2025-10-25T04:01:48.848Z,1761364908.848 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:48.851Z,1761364908.851 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:48.854Z,1761364908.854 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:48.855Z,1761364908.855 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:48.900Z,1761364908.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888260,0.455747,-0.057347],[-0.459064,0.885113,-0.076387],[0.015946,0.094177,0.995428]]
2025-10-25T04:01:49.040Z,1761364909.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 206.699997 m,
      deltaT: 7.309433 s,
      deltaX: 19.000000 m,
      approachRate: 2.599381 m/s,
      rangeRepo size: 4

2025-10-25T04:01:49.048Z,1761364909.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 205.737488 m,
      bearing: 338.004483 deg,
      lat: 36.779637 deg,
      lon: -121.859806 deg,
      deltaT: 7.309433 s,
      deltaX: 18.911865 m,
      approachRate: 2.587323 m/s,
      posRepo size: 4

2025-10-25T04:01:49.054Z,1761364909.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:49.064Z,1761364909.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 180.752213 m,
      bearing: 335.482729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011865 deg/s,
      cmd heading: 332.636332 deg,
      new cmd heading: 332.654989 deg.

2025-10-25T04:01:49.070Z,1761364909.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805925 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:49.079Z,1761364909.079 [DAT](INFO): DAT read: TxSync time:04:01:48.4719

2025-10-25T04:01:49.343Z,1761364909.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887941,0.456440,-0.056778],[-0.459685,0.884877,-0.075380],[0.015835,0.093033,0.995537]]
2025-10-25T04:01:49.375Z,1761364909.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:49.382Z,1761364909.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:49.384Z,1761364909.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 180.553253 m,
      bearing: 335.490460 deg,
      approach rate: -0.563824 m/s,
      LOS rate: 0.021931 deg/s,
      cmd heading: 332.654993 deg,
      new cmd heading: 332.678210 deg.

2025-10-25T04:01:49.390Z,1761364909.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806330 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:49.584Z,1761364909.584 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:49.584Z,1761364909.584 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:49.585Z,1761364909.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:49.756Z,1761364909.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888222,0.456822,-0.048727],[-0.459096,0.886546,-0.057160],[0.017087,0.073141,0.997175]]
2025-10-25T04:01:49.826Z,1761364909.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:49.829Z,1761364909.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 180.299194 m,
      bearing: 335.500391 deg,
      approach rate: -0.571768 m/s,
      LOS rate: 0.022383 deg/s,
      cmd heading: 332.678215 deg,
      new cmd heading: 332.708052 deg.

2025-10-25T04:01:49.831Z,1761364909.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806851 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:49.834Z,1761364909.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988219
2025-10-25T04:01:50.086Z,1761364910.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240804
2025-10-25T04:01:50.145Z,1761364910.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888227,0.456691,-0.049862],[-0.459089,0.886396,-0.059487],[0.017031,0.075729,0.996983]]
2025-10-25T04:01:50.234Z,1761364910.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:50.244Z,1761364910.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 180.084076 m,
      bearing: 335.510614 deg,
      approach rate: -0.527457 m/s,
      LOS rate: 0.025094 deg/s,
      cmd heading: 332.708049 deg,
      new cmd heading: 332.738753 deg.

2025-10-25T04:01:50.246Z,1761364910.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807387 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:50.339Z,1761364910.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493103
2025-10-25T04:01:50.545Z,1761364910.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888588,0.455797,-0.051574],[-0.458380,0.886562,-0.062420],[0.017273,0.079106,0.996717]]
2025-10-25T04:01:50.570Z,1761364910.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:50.589Z,1761364910.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744012
2025-10-25T04:01:50.591Z,1761364910.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 179.883270 m,
      bearing: 335.520114 deg,
      approach rate: -0.596484 m/s,
      LOS rate: 0.028252 deg/s,
      cmd heading: 332.738758 deg,
      new cmd heading: 332.767290 deg.

2025-10-25T04:01:50.592Z,1761364910.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807885 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:50.845Z,1761364910.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998969
2025-10-25T04:01:50.960Z,1761364910.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889748,0.453363,-0.053010],[-0.456140,0.887414,-0.066584],[0.016855,0.083423,0.996372]]
2025-10-25T04:01:51.029Z,1761364911.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:51.037Z,1761364911.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 179.641220 m,
      bearing: 335.533297 deg,
      approach rate: -0.527454 m/s,
      LOS rate: 0.028767 deg/s,
      cmd heading: 332.767281 deg,
      new cmd heading: 332.806885 deg.

2025-10-25T04:01:51.038Z,1761364911.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808576 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:51.098Z,1761364911.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252617
2025-10-25T04:01:51.350Z,1761364911.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504212
2025-10-25T04:01:51.352Z,1761364911.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891008,0.450698,-0.054544],[-0.453686,0.888340,-0.070861],[0.016517,0.087884,0.995994]]
2025-10-25T04:01:51.394Z,1761364911.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:51.401Z,1761364911.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:51.403Z,1761364911.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 179.436829 m,
      bearing: 335.544258 deg,
      approach rate: -0.557291 m/s,
      LOS rate: 0.029918 deg/s,
      cmd heading: 332.806896 deg,
      new cmd heading: 332.839814 deg.

2025-10-25T04:01:51.409Z,1761364911.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809151 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:51.601Z,1761364911.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755976
2025-10-25T04:01:51.857Z,1761364911.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011479
2025-10-25T04:01:51.861Z,1761364911.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:51.866Z,1761364911.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 179.181976 m,
      bearing: 335.557961 deg,
      approach rate: -0.547738 m/s,
      LOS rate: 0.029493 deg/s,
      cmd heading: 332.839817 deg,
      new cmd heading: 332.880985 deg.

2025-10-25T04:01:51.867Z,1761364911.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809869 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:52.106Z,1761364912.106 [DAT](INFO): DAT read: Rx Time:04:01:51.1511

2025-10-25T04:01:52.107Z,1761364912.107 [DAT](INFO): Rx dataTimestamp_ set to:1761364912.106675
2025-10-25T04:01:52.108Z,1761364912.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262280
2025-10-25T04:01:52.189Z,1761364912.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892135,0.448118,-0.057319],[-0.451465,0.888983,-0.076736],[0.016569,0.094336,0.995403]]
2025-10-25T04:01:52.255Z,1761364912.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.74 m.
2025-10-25T04:01:52.262Z,1761364912.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.737488 m,
      nav range: 178.961182 m,
      bearing: 335.569130 deg,
      approach rate: -0.560528 m/s,
      LOS rate: 0.028390 deg/s,
      cmd heading: 332.880990 deg,
      new cmd heading: 332.914538 deg.

2025-10-25T04:01:52.264Z,1761364912.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810455 target range: 205.737488 and range: 206.70 m.
2025-10-25T04:01:52.358Z,1761364912.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512537
2025-10-25T04:01:52.624Z,1761364912.624 [DAT](INFO): DAT read: 04:01:51.1511 LVL= 16112, 24641, 14322, 27955, AGC= 61, IDX= 419, 0.02,-2.414, 2.802,-2.332, 2.954, PHS= 1.004,-0.104, 0.995, RAW= 149.6, -31.3, CAL= 152.6, -36.6, ROT= 357.4,  36.6

2025-10-25T04:01:52.637Z,1761364912.637 [DAT](INFO): got valid direction response:
 04:01:51.1511 LVL= 16112, 24641, 14322, 27955, AGC= 61, IDX= 419, 0.02,-2.414, 2.802,-2.332, 2.954, PHS= 1.004,-0.104, 0.995, RAW= 149.6, -31.3, CAL= 152.6, -36.6, ROT= 357.4,  36.6

2025-10-25T04:01:52.638Z,1761364912.638 [DAT](INFO): DAT read: Bearing 357.4,  36.6 (Local)

2025-10-25T04:01:52.638Z,1761364912.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  36.6 (Local)

2025-10-25T04:01:52.640Z,1761364912.640 [DAT](INFO): DAT read: Range 10 to 50 : 205.6 m  (Round-trip  274.2 ms) speed  0.2 m/s

2025-10-25T04:01:52.654Z,1761364912.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891890,0.448537,-0.057861],[-0.451952,0.888640,-0.077840],[0.016503,0.095575,0.995285]]
2025-10-25T04:01:52.661Z,1761364912.661 [DAT](INFO): DAT read: user:282>

2025-10-25T04:01:52.662Z,1761364912.662 [DAT](INFO): DAT read: Tx time:04:01:52.2728

2025-10-25T04:01:52.662Z,1761364912.662 [DAT](INFO): Ping request sent.
2025-10-25T04:01:52.663Z,1761364912.663 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:52.663Z,1761364912.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:52.677Z,1761364912.677 [DAT](INFO): direction in FSK: [0.801991,-0.036418,-0.596225]
2025-10-25T04:01:52.677Z,1761364912.677 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:52.682Z,1761364912.682 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:52.690Z,1761364912.690 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:52.690Z,1761364912.690 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:52.714Z,1761364912.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.600006 m,
      deltaT: 3.784431 s,
      deltaX: -1.099991 m,
      approachRate: -0.290662 m/s,
      rangeRepo size: 4

2025-10-25T04:01:52.721Z,1761364912.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 204.643021 m,
      bearing: 334.590679 deg,
      lat: 36.779524 deg,
      lon: -121.859777 deg,
      deltaT: 3.784431 s,
      deltaX: -1.094467 m,
      approachRate: -0.289203 m/s,
      posRepo size: 4

2025-10-25T04:01:52.721Z,1761364912.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:52.724Z,1761364912.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 166.169617 m,
      bearing: 334.591113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028390 deg/s,
      cmd heading: 332.914540 deg,
      new cmd heading: 332.953144 deg.

2025-10-25T04:01:52.733Z,1761364912.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811129 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:52.863Z,1761364912.863 [DAT](INFO): DAT read: TxSync time:04:01:52.2720

2025-10-25T04:01:53.084Z,1761364913.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891277,0.449540,-0.059490],[-0.453149,0.887820,-0.080201],[0.016763,0.098439,0.995002]]
2025-10-25T04:01:53.185Z,1761364913.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:53.188Z,1761364913.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 165.901428 m,
      bearing: 334.602144 deg,
      approach rate: -0.562365 m/s,
      LOS rate: 0.023169 deg/s,
      cmd heading: 332.953144 deg,
      new cmd heading: 332.986291 deg.

2025-10-25T04:01:53.193Z,1761364913.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811707 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:53.484Z,1761364913.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891291,0.449915,-0.056369],[-0.453077,0.888605,-0.071434],[0.017951,0.089208,0.995851]]
2025-10-25T04:01:53.502Z,1761364913.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:53.504Z,1761364913.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:53.507Z,1761364913.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 165.720444 m,
      bearing: 334.609612 deg,
      approach rate: -0.567572 m/s,
      LOS rate: 0.023444 deg/s,
      cmd heading: 332.986284 deg,
      new cmd heading: 333.008711 deg.

2025-10-25T04:01:53.508Z,1761364913.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812099 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:53.618Z,1761364913.618 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:53.618Z,1761364913.618 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:53.618Z,1761364913.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:53.869Z,1761364913.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207207
2025-10-25T04:01:53.886Z,1761364913.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891456,0.449376,-0.058026],[-0.452731,0.888597,-0.073687],[0.018449,0.091959,0.995592]]
2025-10-25T04:01:53.943Z,1761364913.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:53.946Z,1761364913.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 165.486267 m,
      bearing: 334.613722 deg,
      approach rate: -0.533428 m/s,
      LOS rate: 0.009375 deg/s,
      cmd heading: 333.008714 deg,
      new cmd heading: 333.021061 deg.

2025-10-25T04:01:53.947Z,1761364913.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812314 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:54.123Z,1761364914.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460673
2025-10-25T04:01:54.294Z,1761364914.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892190,0.447785,-0.059040],[-0.451280,0.889156,-0.075819],[0.018545,0.094289,0.995372]]
2025-10-25T04:01:54.327Z,1761364914.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:54.331Z,1761364914.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 165.280197 m,
      bearing: 334.617234 deg,
      approach rate: -0.537632 m/s,
      LOS rate: 0.009174 deg/s,
      cmd heading: 333.021063 deg,
      new cmd heading: 333.031613 deg.

2025-10-25T04:01:54.331Z,1761364914.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812498 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:54.374Z,1761364914.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711405
2025-10-25T04:01:54.626Z,1761364914.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963327
2025-10-25T04:01:54.706Z,1761364914.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893202,0.445875,-0.058187],[-0.449288,0.890199,-0.075409],[0.018175,0.093498,0.995454]]
2025-10-25T04:01:54.732Z,1761364914.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:54.735Z,1761364914.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 165.064072 m,
      bearing: 334.620758 deg,
      approach rate: -0.532863 m/s,
      LOS rate: 0.008700 deg/s,
      cmd heading: 333.031609 deg,
      new cmd heading: 333.042195 deg.

2025-10-25T04:01:54.736Z,1761364914.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812683 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:54.878Z,1761364914.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216048
2025-10-25T04:01:55.103Z,1761364915.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893599,0.445099,-0.058031],[-0.448510,0.890546,-0.075940],[0.017878,0.093887,0.995422]]
2025-10-25T04:01:55.131Z,1761364915.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468794
2025-10-25T04:01:55.200Z,1761364915.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:55.207Z,1761364915.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 164.824005 m,
      bearing: 334.619578 deg,
      approach rate: -0.513465 m/s,
      LOS rate: -0.002526 deg/s,
      cmd heading: 333.042182 deg,
      new cmd heading: 333.038639 deg.

2025-10-25T04:01:55.207Z,1761364915.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812621 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:55.381Z,1761364915.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719214
2025-10-25T04:01:55.500Z,1761364915.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893757,0.444739,-0.058366],[-0.448206,0.890585,-0.077258],[0.017621,0.095210,0.995301]]
2025-10-25T04:01:55.518Z,1761364915.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:55.520Z,1761364915.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:55.523Z,1761364915.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 164.652634 m,
      bearing: 334.618715 deg,
      approach rate: -0.534595 m/s,
      LOS rate: -0.002694 deg/s,
      cmd heading: 333.038631 deg,
      new cmd heading: 333.036040 deg.

2025-10-25T04:01:55.524Z,1761364915.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812575 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:55.634Z,1761364915.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972030
2025-10-25T04:01:55.897Z,1761364915.897 [DAT](INFO): DAT read: Rx Time:04:01:54.8871

2025-10-25T04:01:55.897Z,1761364915.897 [DAT](INFO): Rx dataTimestamp_ set to:1761364915.896953
2025-10-25T04:01:55.898Z,1761364915.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235557
2025-10-25T04:01:55.911Z,1761364915.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893915,0.444382,-0.058667],[-0.447891,0.890687,-0.077917],[0.017629,0.095928,0.995232]]
2025-10-25T04:01:55.981Z,1761364915.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:55.983Z,1761364915.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 164.414429 m,
      bearing: 334.612872 deg,
      approach rate: -0.517593 m/s,
      LOS rate: -0.012715 deg/s,
      cmd heading: 333.036035 deg,
      new cmd heading: 333.018481 deg.

2025-10-25T04:01:55.984Z,1761364915.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812269 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:56.137Z,1761364916.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475201
2025-10-25T04:01:56.349Z,1761364916.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893646,0.444873,-0.059030],[-0.448426,0.890365,-0.078514],[0.017629,0.096634,0.995164]]
2025-10-25T04:01:56.395Z,1761364916.395 [DAT](INFO): DAT read: 04:01:54.8871 LVL= 20176, 27105, 17778, 28563, AGC= 64, IDX= 292,-0.04, 1.549, 0.192, 1.541, 1.132, PHS= 0.506,-0.893, 0.406, RAW= 146.4,  -0.3, CAL= 150.1,  -9.3, ROT= 359.9,   9.3

2025-10-25T04:01:56.397Z,1761364916.397 [DAT](INFO): got valid direction response:
 04:01:54.8871 LVL= 20176, 27105, 17778, 28563, AGC= 64, IDX= 292,-0.04, 1.549, 0.192, 1.541, 1.132, PHS= 0.506,-0.893, 0.406, RAW= 146.4,  -0.3, CAL= 150.1,  -9.3, ROT= 359.9,   9.3

2025-10-25T04:01:56.398Z,1761364916.398 [DAT](INFO): DAT read: Bearing 359.9,   9.3 (Local)

2025-10-25T04:01:56.398Z,1761364916.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,   9.3 (Local)

2025-10-25T04:01:56.400Z,1761364916.400 [DAT](INFO): DAT read: Range 10 to 50 : 157.5 m  (Round-trip  210.1 ms) speed  0.2 m/s

2025-10-25T04:01:56.401Z,1761364916.401 [DAT](INFO): DAT read: user:283>

2025-10-25T04:01:56.402Z,1761364916.402 [DAT](INFO): DAT read: Tx time:04:01:55.9728

2025-10-25T04:01:56.402Z,1761364916.402 [DAT](INFO): Ping request sent.
2025-10-25T04:01:56.402Z,1761364916.402 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:01:56.402Z,1761364916.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:01:56.403Z,1761364916.403 [DAT](INFO): direction in FSK: [0.986854,-0.001723,-0.161604]
2025-10-25T04:01:56.403Z,1761364916.403 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:56.404Z,1761364916.404 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:56.407Z,1761364916.407 [DAT](INFO): publishing transmit ping time
2025-10-25T04:01:56.407Z,1761364916.407 [DAT](INFO): publishing direction and range info
2025-10-25T04:01:56.438Z,1761364916.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 157.500000 m,
 deltaT: 3.778117 s,
 deltaX: -48.100006 m,
 approachRate: -12.731212 m/s,
 rangeRepo size: 4
2025-10-25T04:01:56.439Z,1761364916.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:56.450Z,1761364916.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 164.202805 m,
      bearing: 334.607713 deg,
      approach rate: -0.462889 m/s,
      LOS rate: -0.011300 deg/s,
      cmd heading: 333.018468 deg,
      new cmd heading: 333.002970 deg.

2025-10-25T04:01:56.451Z,1761364916.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811998 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:56.642Z,1761364916.642 [DAT](INFO): DAT read: TxSync time:04:01:55.9720

2025-10-25T04:01:56.735Z,1761364916.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893706,0.444708,-0.059361],[-0.448308,0.890352,-0.079327],[0.017575,0.097507,0.995080]]
2025-10-25T04:01:56.755Z,1761364916.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:56.758Z,1761364916.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 164.007858 m,
      bearing: 334.602940 deg,
      approach rate: -0.614604 m/s,
      LOS rate: -0.015064 deg/s,
      cmd heading: 333.002977 deg,
      new cmd heading: 332.988642 deg.

2025-10-25T04:01:56.759Z,1761364916.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811748 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:57.131Z,1761364917.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891919,0.448532,-0.057440],[-0.451786,0.889297,-0.070995],[0.019238,0.089272,0.995821]]
2025-10-25T04:01:57.234Z,1761364917.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:57.241Z,1761364917.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 163.768799 m,
      bearing: 334.592311 deg,
      approach rate: -0.498853 m/s,
      LOS rate: -0.022213 deg/s,
      cmd heading: 332.988634 deg,
      new cmd heading: 332.956699 deg.

2025-10-25T04:01:57.242Z,1761364917.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811191 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:57.532Z,1761364917.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892623,0.447098,-0.057688],[-0.450397,0.889924,-0.071962],[0.019164,0.090217,0.995738]]
2025-10-25T04:01:57.563Z,1761364917.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:57.566Z,1761364917.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:57.569Z,1761364917.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 163.598083 m,
      bearing: 334.584608 deg,
      approach rate: -0.514299 m/s,
      LOS rate: -0.023232 deg/s,
      cmd heading: 332.956696 deg,
      new cmd heading: 332.933561 deg.

2025-10-25T04:01:57.570Z,1761364917.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810787 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:57.650Z,1761364917.650 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:01:57.650Z,1761364917.650 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:01:57.650Z,1761364917.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:01:57.904Z,1761364917.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501739
2025-10-25T04:01:57.941Z,1761364917.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893130,0.446082,-0.057708],[-0.449403,0.890354,-0.072850],[0.018883,0.090998,0.995672]]
2025-10-25T04:01:58.019Z,1761364918.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:58.022Z,1761364918.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 163.377579 m,
      bearing: 334.573126 deg,
      approach rate: -0.486845 m/s,
      LOS rate: -0.025384 deg/s,
      cmd heading: 332.933555 deg,
      new cmd heading: 332.899064 deg.

2025-10-25T04:01:58.023Z,1761364918.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810185 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:58.154Z,1761364918.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751621
2025-10-25T04:01:58.341Z,1761364918.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894109,0.444229,-0.056827],[-0.447508,0.891153,-0.074715],[0.017451,0.092234,0.995584]]
2025-10-25T04:01:58.387Z,1761364918.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:58.390Z,1761364918.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 163.190674 m,
      bearing: 334.563228 deg,
      approach rate: -0.507287 m/s,
      LOS rate: -0.026896 deg/s,
      cmd heading: 332.899076 deg,
      new cmd heading: 332.869347 deg.

2025-10-25T04:01:58.391Z,1761364918.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809666 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:58.406Z,1761364918.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003552
2025-10-25T04:01:58.658Z,1761364918.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255506
2025-10-25T04:01:58.747Z,1761364918.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894910,0.442693,-0.056213],[-0.445941,0.891838,-0.075905],[0.016530,0.092996,0.995529]]
2025-10-25T04:01:58.767Z,1761364918.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:58.771Z,1761364918.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 162.988083 m,
      bearing: 334.552345 deg,
      approach rate: -0.533203 m/s,
      LOS rate: -0.028677 deg/s,
      cmd heading: 332.869351 deg,
      new cmd heading: 332.836663 deg.

2025-10-25T04:01:58.772Z,1761364918.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809096 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:58.914Z,1761364918.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510993
2025-10-25T04:01:59.152Z,1761364919.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894840,0.442954,-0.055253],[-0.446100,0.891820,-0.075178],[0.015975,0.091921,0.995638]]
2025-10-25T04:01:59.162Z,1761364919.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759607
2025-10-25T04:01:59.253Z,1761364919.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:59.256Z,1761364919.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 162.746445 m,
      bearing: 334.541530 deg,
      approach rate: -0.497195 m/s,
      LOS rate: -0.022286 deg/s,
      cmd heading: 332.836676 deg,
      new cmd heading: 332.804182 deg.

2025-10-25T04:01:59.261Z,1761364919.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808529 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:59.415Z,1761364919.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013012
2025-10-25T04:01:59.553Z,1761364919.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894826,0.443104,-0.054266],[-0.446148,0.891858,-0.074441],[0.015412,0.090822,0.995748]]
2025-10-25T04:01:59.591Z,1761364919.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:01:59.593Z,1761364919.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:01:59.596Z,1761364919.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 162.577667 m,
      bearing: 334.533961 deg,
      approach rate: -0.497283 m/s,
      LOS rate: -0.022325 deg/s,
      cmd heading: 332.804191 deg,
      new cmd heading: 332.781460 deg.

2025-10-25T04:01:59.598Z,1761364919.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808132 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:01:59.668Z,1761364919.668 [DAT](INFO): DAT read: Rx Time:04:01:58.5848

2025-10-25T04:01:59.668Z,1761364919.668 [DAT](INFO): Rx dataTimestamp_ set to:1761364919.667996
2025-10-25T04:01:59.669Z,1761364919.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267064
2025-10-25T04:01:59.925Z,1761364919.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522398
2025-10-25T04:01:59.974Z,1761364919.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894314,0.444219,-0.053595],[-0.447185,0.891415,-0.073521],[0.015116,0.089718,0.995852]]
2025-10-25T04:02:00.079Z,1761364920.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:00.086Z,1761364920.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 162.312546 m,
      bearing: 334.526180 deg,
      approach rate: -0.545560 m/s,
      LOS rate: -0.016038 deg/s,
      cmd heading: 332.781460 deg,
      new cmd heading: 332.758079 deg.

2025-10-25T04:02:00.086Z,1761364920.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807724 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:00.183Z,1761364920.183 [DAT](INFO): DAT read: 04:01:58.5848 LVL= 16976, 21169, 17362, 20931, AGC= 60, IDX= 412, 0.36, 0.611,-0.875, 0.578, 0.136, PHS= 0.563,-0.964, 0.439, RAW= 145.8,  -0.5, CAL= 149.7,  -9.6, ROT=   0.3,   9.6

2025-10-25T04:02:00.184Z,1761364920.184 [DAT](INFO): got valid direction response:
 04:01:58.5848 LVL= 16976, 21169, 17362, 20931, AGC= 60, IDX= 412, 0.36, 0.611,-0.875, 0.578, 0.136, PHS= 0.563,-0.964, 0.439, RAW= 145.8,  -0.5, CAL= 149.7,  -9.6, ROT=   0.3,   9.6

2025-10-25T04:02:00.185Z,1761364920.185 [DAT](INFO): DAT read: Bearing   0.3,   9.6 (Local)

2025-10-25T04:02:00.185Z,1761364920.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,   9.6 (Local)

2025-10-25T04:02:00.187Z,1761364920.187 [DAT](INFO): DAT read: Range 10 to 50 : 155.9 m  (Round-trip  207.9 ms) speed  0.7 m/s

2025-10-25T04:02:00.188Z,1761364920.188 [DAT](INFO): DAT read: user:284>

2025-10-25T04:02:00.192Z,1761364920.192 [DAT](INFO): DAT read: Tx time:04:01:59.6728

2025-10-25T04:02:00.194Z,1761364920.194 [DAT](INFO): Ping request sent.
2025-10-25T04:02:00.194Z,1761364920.194 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:00.194Z,1761364920.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:00.195Z,1761364920.195 [DAT](INFO): direction in FSK: [0.985983,0.005163,-0.166769]
2025-10-25T04:02:00.195Z,1761364920.195 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:00.195Z,1761364920.195 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:00.203Z,1761364920.203 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:00.204Z,1761364920.204 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:00.385Z,1761364920.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894351,0.444248,-0.052715],[-0.447123,0.891515,-0.072672],[0.014712,0.088565,0.995962]]
2025-10-25T04:02:00.426Z,1761364920.426 [DAT](INFO): DAT read: TxSync time:04:01:59.6720

2025-10-25T04:02:00.457Z,1761364920.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 155.899994 m,
 deltaT: 7.562921 s,
 deltaX: -49.700012 m,
 approachRate: -6.571537 m/s,
 rangeRepo size: 4
2025-10-25T04:02:00.457Z,1761364920.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:00.460Z,1761364920.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 162.130615 m,
      bearing: 334.520824 deg,
      approach rate: -0.487688 m/s,
      LOS rate: -0.014374 deg/s,
      cmd heading: 332.758074 deg,
      new cmd heading: 332.741987 deg.

2025-10-25T04:02:00.465Z,1761364920.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807443 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:00.778Z,1761364920.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893391,0.446146,-0.052979],[-0.449015,0.890684,-0.071180],[0.015431,0.087380,0.996056]]
2025-10-25T04:02:00.799Z,1761364920.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:00.802Z,1761364920.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 161.931076 m,
      bearing: 334.515089 deg,
      approach rate: -0.574058 m/s,
      LOS rate: -0.016519 deg/s,
      cmd heading: 332.741982 deg,
      new cmd heading: 332.724756 deg.

2025-10-25T04:02:00.803Z,1761364920.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807142 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:01.199Z,1761364921.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893140,0.446831,-0.051411],[-0.449494,0.890788,-0.066716],[0.015986,0.082696,0.996447]]
2025-10-25T04:02:01.268Z,1761364921.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:01.271Z,1761364921.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 161.676086 m,
      bearing: 334.514412 deg,
      approach rate: -0.544660 m/s,
      LOS rate: -0.001448 deg/s,
      cmd heading: 332.724742 deg,
      new cmd heading: 332.722708 deg.

2025-10-25T04:02:01.272Z,1761364921.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807107 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:01.620Z,1761364921.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:01.622Z,1761364921.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:01.625Z,1761364921.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 161.482986 m,
      bearing: 334.513898 deg,
      approach rate: -0.544232 m/s,
      LOS rate: -0.001451 deg/s,
      cmd heading: 332.722721 deg,
      new cmd heading: 332.721176 deg.

2025-10-25T04:02:01.626Z,1761364921.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807080 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:01.694Z,1761364921.694 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:01.694Z,1761364921.694 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:01.694Z,1761364921.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:01.949Z,1761364921.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755473
2025-10-25T04:02:02.056Z,1761364922.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:02.079Z,1761364922.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 161.231628 m,
      bearing: 334.521171 deg,
      approach rate: -0.579373 m/s,
      LOS rate: 0.016790 deg/s,
      cmd heading: 332.721163 deg,
      new cmd heading: 332.743016 deg.

2025-10-25T04:02:02.080Z,1761364922.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807461 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:02.198Z,1761364922.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004161
2025-10-25T04:02:02.431Z,1761364922.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:02.434Z,1761364922.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 161.015274 m,
      bearing: 334.527449 deg,
      approach rate: -0.576455 m/s,
      LOS rate: 0.016751 deg/s,
      cmd heading: 332.743020 deg,
      new cmd heading: 332.761881 deg.

2025-10-25T04:02:02.435Z,1761364922.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807790 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:02.450Z,1761364922.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256237
2025-10-25T04:02:02.702Z,1761364922.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508228
2025-10-25T04:02:02.796Z,1761364922.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891895,0.449233,-0.052087],[-0.452007,0.889213,-0.070643],[0.014581,0.086550,0.996141]]
2025-10-25T04:02:02.825Z,1761364922.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:02.828Z,1761364922.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 160.787521 m,
      bearing: 334.534283 deg,
      approach rate: -0.578591 m/s,
      LOS rate: 0.017386 deg/s,
      cmd heading: 332.761871 deg,
      new cmd heading: 332.782402 deg.

2025-10-25T04:02:02.831Z,1761364922.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808148 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:02.957Z,1761364922.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762729
2025-10-25T04:02:03.205Z,1761364923.205 [DAT](INFO): DAT read: Rx Time:04:02:02.2822

2025-10-25T04:02:03.206Z,1761364923.206 [DAT](INFO): Rx dataTimestamp_ set to:1761364923.205652
2025-10-25T04:02:03.206Z,1761364923.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013085
2025-10-25T04:02:03.213Z,1761364923.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891351,0.450257,-0.052545],[-0.453085,0.888572,-0.071785],[0.014368,0.087793,0.996035]]
2025-10-25T04:02:03.298Z,1761364923.298 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:02:03.322Z,1761364923.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:03.325Z,1761364923.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 160.488083 m,
      bearing: 334.551581 deg,
      approach rate: -0.602589 m/s,
      LOS rate: 0.034875 deg/s,
      cmd heading: 332.782389 deg,
      new cmd heading: 332.834379 deg.

2025-10-25T04:02:03.326Z,1761364923.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809056 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:03.457Z,1761364923.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264116
2025-10-25T04:02:03.610Z,1761364923.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890480,0.451985,-0.052486],[-0.454799,0.887716,-0.071541],[0.014257,0.087577,0.996056]]
2025-10-25T04:02:03.688Z,1761364923.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:03.691Z,1761364923.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-10-25T04:02:03.705Z,1761364923.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.643021 m,
      nav range: 160.300720 m,
      bearing: 334.562571 deg,
      approach rate: -0.508127 m/s,
      LOS rate: 0.029841 deg/s,
      cmd heading: 332.834381 deg,
      new cmd heading: 332.867391 deg.

2025-10-25T04:02:03.714Z,1761364923.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519499
2025-10-25T04:02:03.718Z,1761364923.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809632 target range: 204.643021 and range: 205.60 m.
2025-10-25T04:02:04.023Z,1761364924.023 [DAT](INFO): DAT read: 04:02:02.2822 LVL= 22192, 28961, 20210, 29763, AGC= 62, IDX= 417,-0.43,-2.857, 2.049,-2.954, 2.993, PHS= 0.521,-0.898, 0.333, RAW= 143.0,   0.7, CAL= 147.0,  -8.2, ROT=   3.0,   8.2

2025-10-25T04:02:04.024Z,1761364924.024 [DAT](INFO): got valid direction response:
 04:02:02.2822 LVL= 22192, 28961, 20210, 29763, AGC= 62, IDX= 417,-0.43,-2.857, 2.049,-2.954, 2.993, PHS= 0.521,-0.898, 0.333, RAW= 143.0,   0.7, CAL= 147.0,  -8.2, ROT=   3.0,   8.2

2025-10-25T04:02:04.049Z,1761364924.049 [DAT](INFO): DAT read: Bearing   3.0,   8.2 (Local)

2025-10-25T04:02:04.049Z,1761364924.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,   8.2 (Local)

2025-10-25T04:02:04.051Z,1761364924.051 [DAT](INFO): DAT read: Range 10 to 50 : 153.8 m  (Round-trip  205.1 ms) speed  0.2 m/s

2025-10-25T04:02:04.052Z,1761364924.052 [DAT](INFO): DAT read: user:285>

2025-10-25T04:02:04.061Z,1761364924.061 [DAT](INFO): DAT read: Tx time:04:02:03.3729

2025-10-25T04:02:04.061Z,1761364924.061 [DAT](INFO): Ping request sent.
2025-10-25T04:02:04.061Z,1761364924.061 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:04.062Z,1761364924.062 [DAT](INFO): DAT read: TxSync time:04:02:03.3721

2025-10-25T04:02:04.063Z,1761364924.063 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:04.073Z,1761364924.073 [DAT](INFO): direction in FSK: [0.988420,0.051801,-0.142629]
2025-10-25T04:02:04.073Z,1761364924.073 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:04.073Z,1761364924.073 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:04.109Z,1761364924.109 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:04.109Z,1761364924.109 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:04.273Z,1761364924.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.800003 m,
      deltaT: 11.353633 s,
      deltaX: -51.800003 m,
      approachRate: -4.562417 m/s,
      rangeRepo size: 4

2025-10-25T04:02:04.283Z,1761364924.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.106323 m,
      bearing: 336.648204 deg,
      lat: 36.779479 deg,
      lon: -121.859732 deg,
      deltaT: 11.353633 s,
      deltaX: -51.536697 m,
      approachRate: -4.539225 m/s,
      posRepo size: 4

2025-10-25T04:02:04.291Z,1761364924.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:04.300Z,1761364924.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 153.758011 m,
      bearing: 335.122242 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029841 deg/s,
      cmd heading: 332.867384 deg,
      new cmd heading: 332.919044 deg.

2025-10-25T04:02:04.302Z,1761364924.302 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:02:04.306Z,1761364924.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810534 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:04.573Z,1761364924.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887963,0.456786,-0.053551],[-0.459643,0.885402,-0.069220],[0.015795,0.086080,0.996163]]
2025-10-25T04:02:04.618Z,1761364924.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:04.621Z,1761364924.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 153.544922 m,
      bearing: 335.141597 deg,
      approach rate: -0.608061 m/s,
      LOS rate: 0.055306 deg/s,
      cmd heading: 332.919048 deg,
      new cmd heading: 332.977192 deg.

2025-10-25T04:02:04.622Z,1761364924.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811548 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:05.082Z,1761364925.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:05.085Z,1761364925.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 153.243454 m,
      bearing: 335.169313 deg,
      approach rate: -0.650381 m/s,
      LOS rate: 0.059912 deg/s,
      cmd heading: 332.977186 deg,
      new cmd heading: 333.060498 deg.

2025-10-25T04:02:05.086Z,1761364925.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813002 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:05.377Z,1761364925.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887067,0.458236,-0.055959],[-0.461346,0.884292,-0.072031],[0.016477,0.089713,0.995831]]
2025-10-25T04:02:05.405Z,1761364925.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:05.407Z,1761364925.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 153.044037 m,
      bearing: 335.187846 deg,
      approach rate: -0.618074 m/s,
      LOS rate: 0.057515 deg/s,
      cmd heading: 333.060487 deg,
      new cmd heading: 333.116158 deg.

2025-10-25T04:02:05.408Z,1761364925.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813974 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:05.781Z,1761364925.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886548,0.459285,-0.055587],[-0.462370,0.883695,-0.072778],[0.015696,0.090223,0.995798]]
2025-10-25T04:02:05.799Z,1761364925.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:05.802Z,1761364925.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:05.833Z,1761364925.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 152.799591 m,
      bearing: 335.210741 deg,
      approach rate: -0.614700 m/s,
      LOS rate: 0.057667 deg/s,
      cmd heading: 333.116167 deg,
      new cmd heading: 333.184963 deg.

2025-10-25T04:02:05.834Z,1761364925.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815175 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:05.981Z,1761364925.981 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:05.981Z,1761364925.981 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:05.982Z,1761364925.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:06.194Z,1761364926.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886101,0.460146,-0.055592],[-0.463239,0.883183,-0.073471],[0.015290,0.090855,0.995747]]
2025-10-25T04:02:06.229Z,1761364926.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.168339
2025-10-25T04:02:06.267Z,1761364926.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:06.270Z,1761364926.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 152.517029 m,
      bearing: 335.237548 deg,
      approach rate: -0.608429 m/s,
      LOS rate: 0.057830 deg/s,
      cmd heading: 333.184961 deg,
      new cmd heading: 333.265531 deg.

2025-10-25T04:02:06.271Z,1761364926.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816581 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:06.482Z,1761364926.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420475
2025-10-25T04:02:06.597Z,1761364926.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885867,0.460529,-0.056159],[-0.463693,0.882837,-0.074751],[0.015154,0.092260,0.995620]]
2025-10-25T04:02:06.617Z,1761364926.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:06.619Z,1761364926.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 152.305222 m,
      bearing: 335.257751 deg,
      approach rate: -0.605401 m/s,
      LOS rate: 0.057825 deg/s,
      cmd heading: 333.265529 deg,
      new cmd heading: 333.326222 deg.

2025-10-25T04:02:06.620Z,1761364926.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817640 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:06.735Z,1761364926.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.673383
2025-10-25T04:02:06.990Z,1761364926.990 [DAT](INFO): DAT read: Rx Time:04:02:06.0109

2025-10-25T04:02:06.991Z,1761364926.991 [DAT](INFO): Rx dataTimestamp_ set to:1761364926.990276
2025-10-25T04:02:06.995Z,1761364926.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933695
2025-10-25T04:02:07.077Z,1761364927.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885927,0.460308,-0.057011],[-0.463577,0.882759,-0.076368],[0.015174,0.094085,0.995448]]
2025-10-25T04:02:07.149Z,1761364927.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:07.152Z,1761364927.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 151.998047 m,
      bearing: 335.278776 deg,
      approach rate: -0.576411 m/s,
      LOS rate: 0.039532 deg/s,
      cmd heading: 333.326209 deg,
      new cmd heading: 333.389409 deg.

2025-10-25T04:02:07.156Z,1761364927.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818743 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:07.238Z,1761364927.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176994
2025-10-25T04:02:07.499Z,1761364927.499 [DAT](INFO): DAT read: 04:02:06.0109 LVL= 21424, 28337, 17394, 30035, AGC= 65, IDX= 230, 0.24,-1.888, 2.963,-1.968,-2.389, PHS= 0.589,-0.884, 0.418, RAW= 143.9,  -1.8, CAL= 148.4, -10.9, ROT=   1.6,  10.9

2025-10-25T04:02:07.500Z,1761364927.500 [DAT](INFO): got valid direction response:
 04:02:06.0109 LVL= 21424, 28337, 17394, 30035, AGC= 65, IDX= 230, 0.24,-1.888, 2.963,-1.968,-2.389, PHS= 0.589,-0.884, 0.418, RAW= 143.9,  -1.8, CAL= 148.4, -10.9, ROT=   1.6,  10.9

2025-10-25T04:02:07.504Z,1761364927.504 [DAT](INFO): DAT read: Bearing   1.6,  10.9 (Local)

2025-10-25T04:02:07.517Z,1761364927.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  10.9 (Local)

2025-10-25T04:02:07.519Z,1761364927.519 [DAT](INFO): DAT read: Range 10 to 50 : 175.3 m  (Round-trip  233.8 ms) speed  0.4 m/s

2025-10-25T04:02:07.519Z,1761364927.519 [DAT](INFO): DAT read: user:286>

2025-10-25T04:02:07.520Z,1761364927.520 [DAT](INFO): DAT read: Tx time:04:02:07.1245

2025-10-25T04:02:07.529Z,1761364927.529 [DAT](INFO): Ping request sent.
2025-10-25T04:02:07.529Z,1761364927.529 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:07.530Z,1761364927.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:07.531Z,1761364927.531 [DAT](INFO): direction in FSK: [0.981576,0.027418,-0.189095]
2025-10-25T04:02:07.531Z,1761364927.531 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:07.532Z,1761364927.532 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:07.540Z,1761364927.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886514,0.459035,-0.058139],[-0.462449,0.883164,-0.078503],[0.015310,0.096481,0.995217]]
2025-10-25T04:02:07.543Z,1761364927.543 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:07.543Z,1761364927.543 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:07.630Z,1761364927.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 175.300003 m,
 deltaT: 3.525862 s,
 deltaX: 21.500000 m,
 approachRate: 6.097800 m/s,
 rangeRepo size: 4
2025-10-25T04:02:07.631Z,1761364927.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:07.638Z,1761364927.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 151.739883 m,
      bearing: 335.296388 deg,
      approach rate: -0.543662 m/s,
      LOS rate: 0.037152 deg/s,
      cmd heading: 333.389402 deg,
      new cmd heading: 333.442327 deg.

2025-10-25T04:02:07.639Z,1761364927.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819666 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:07.742Z,1761364927.742 [DAT](INFO): DAT read: TxSync time:04:02:07.1237

2025-10-25T04:02:07.906Z,1761364927.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887038,0.457948,-0.058712],[-0.461443,0.883563,-0.079915],[0.015279,0.097980,0.995071]]
2025-10-25T04:02:07.923Z,1761364927.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:07.925Z,1761364927.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:07.928Z,1761364927.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 151.549164 m,
      bearing: 335.309353 deg,
      approach rate: -0.633161 m/s,
      LOS rate: 0.043097 deg/s,
      cmd heading: 333.442322 deg,
      new cmd heading: 333.481267 deg.

2025-10-25T04:02:07.931Z,1761364927.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820346 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:07.994Z,1761364927.994 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:07.994Z,1761364927.994 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:07.994Z,1761364927.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:08.246Z,1761364928.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717476
2025-10-25T04:02:08.390Z,1761364928.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:08.393Z,1761364928.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 151.292923 m,
      bearing: 335.318135 deg,
      approach rate: -0.551709 m/s,
      LOS rate: 0.018941 deg/s,
      cmd heading: 333.481254 deg,
      new cmd heading: 333.507645 deg.

2025-10-25T04:02:08.394Z,1761364928.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820807 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:08.499Z,1761364928.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969725
2025-10-25T04:02:08.721Z,1761364928.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887263,0.456807,-0.063968],[-0.460942,0.883261,-0.085922],[0.017251,0.105721,0.994246]]
2025-10-25T04:02:08.741Z,1761364928.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:08.743Z,1761364928.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 151.099823 m,
      bearing: 335.324752 deg,
      approach rate: -0.550691 m/s,
      LOS rate: 0.018896 deg/s,
      cmd heading: 333.507646 deg,
      new cmd heading: 333.527524 deg.

2025-10-25T04:02:08.744Z,1761364928.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821154 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:08.750Z,1761364928.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220891
2025-10-25T04:02:09.006Z,1761364929.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476356
2025-10-25T04:02:09.111Z,1761364929.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887049,0.457169,-0.064351],[-0.461339,0.883073,-0.085722],[0.017637,0.105727,0.994239]]
2025-10-25T04:02:09.165Z,1761364929.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:09.168Z,1761364929.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 150.880081 m,
      bearing: 335.323444 deg,
      approach rate: -0.517217 m/s,
      LOS rate: -0.003085 deg/s,
      cmd heading: 333.527536 deg,
      new cmd heading: 333.523604 deg.

2025-10-25T04:02:09.169Z,1761364929.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821085 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:09.255Z,1761364929.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726404
2025-10-25T04:02:09.506Z,1761364929.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976806
2025-10-25T04:02:09.517Z,1761364929.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888731,0.454025,-0.063399],[-0.458117,0.884699,-0.086237],[0.016936,0.105686,0.994255]]
2025-10-25T04:02:09.549Z,1761364929.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:09.552Z,1761364929.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 150.680832 m,
      bearing: 335.321978 deg,
      approach rate: -0.518669 m/s,
      LOS rate: -0.003819 deg/s,
      cmd heading: 333.523601 deg,
      new cmd heading: 333.519200 deg.

2025-10-25T04:02:09.553Z,1761364929.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821008 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:09.757Z,1761364929.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228611
2025-10-25T04:02:09.922Z,1761364929.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890437,0.450891,-0.061806],[-0.454824,0.886424,-0.085953],[0.016031,0.104646,0.994380]]
2025-10-25T04:02:09.949Z,1761364929.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:09.951Z,1761364929.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:09.954Z,1761364929.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 150.472565 m,
      bearing: 335.320145 deg,
      approach rate: -0.518045 m/s,
      LOS rate: -0.004568 deg/s,
      cmd heading: 333.519203 deg,
      new cmd heading: 333.513694 deg.

2025-10-25T04:02:09.955Z,1761364929.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820912 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:10.014Z,1761364930.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484978
2025-10-25T04:02:10.262Z,1761364930.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732770
2025-10-25T04:02:10.335Z,1761364930.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892102,0.447735,-0.060727],[-0.451565,0.888119,-0.085639],[0.015589,0.103821,0.994474]]
2025-10-25T04:02:10.397Z,1761364930.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:10.400Z,1761364930.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 150.260010 m,
      bearing: 335.312295 deg,
      approach rate: -0.495659 m/s,
      LOS rate: -0.018331 deg/s,
      cmd heading: 333.513684 deg,
      new cmd heading: 333.490101 deg.

2025-10-25T04:02:10.408Z,1761364930.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820500 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:10.514Z,1761364930.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985679
2025-10-25T04:02:10.766Z,1761364930.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236792
2025-10-25T04:02:10.776Z,1761364930.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:10.780Z,1761364930.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 150.059830 m,
      bearing: 335.304881 deg,
      approach rate: -0.505591 m/s,
      LOS rate: -0.018749 deg/s,
      cmd heading: 333.490106 deg,
      new cmd heading: 333.467835 deg.

2025-10-25T04:02:10.782Z,1761364930.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820112 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:11.021Z,1761364931.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491085
2025-10-25T04:02:11.136Z,1761364931.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895219,0.441755,-0.058618],[-0.445381,0.891318,-0.084782],[0.014794,0.102006,0.994674]]
2025-10-25T04:02:11.177Z,1761364931.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:11.181Z,1761364931.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 149.855759 m,
      bearing: 335.292944 deg,
      approach rate: -0.509944 m/s,
      LOS rate: -0.029871 deg/s,
      cmd heading: 333.467840 deg,
      new cmd heading: 333.431978 deg.

2025-10-25T04:02:11.182Z,1761364931.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819486 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:11.270Z,1761364931.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740868
2025-10-25T04:02:11.521Z,1761364931.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.992623
2025-10-25T04:02:11.538Z,1761364931.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896494,0.439299,-0.057574],[-0.442828,0.892599,-0.084681],[0.014190,0.101411,0.994743]]
2025-10-25T04:02:11.570Z,1761364931.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:11.577Z,1761364931.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 149.662048 m,
      bearing: 335.281365 deg,
      approach rate: -0.491783 m/s,
      LOS rate: -0.029435 deg/s,
      cmd heading: 333.431968 deg,
      new cmd heading: 333.397185 deg.

2025-10-25T04:02:11.578Z,1761364931.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818879 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:11.774Z,1761364931.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.244968
2025-10-25T04:02:11.941Z,1761364931.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897645,0.437073,-0.056581],[-0.440499,0.893840,-0.083734],[0.013977,0.100087,0.994880]]
2025-10-25T04:02:11.959Z,1761364931.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:11.961Z,1761364931.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:11.965Z,1761364931.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 149.456512 m,
      bearing: 335.268834 deg,
      approach rate: -0.525420 m/s,
      LOS rate: -0.032077 deg/s,
      cmd heading: 333.397188 deg,
      new cmd heading: 333.359544 deg.

2025-10-25T04:02:11.966Z,1761364931.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818222 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:12.026Z,1761364932.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.497564
2025-10-25T04:02:12.278Z,1761364932.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.749227
2025-10-25T04:02:12.344Z,1761364932.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898508,0.435442,-0.055433],[-0.438749,0.894779,-0.082885],[0.013509,0.098794,0.995016]]
2025-10-25T04:02:12.402Z,1761364932.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:12.405Z,1761364932.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 149.226273 m,
      bearing: 335.257762 deg,
      approach rate: -0.522546 m/s,
      LOS rate: -0.025167 deg/s,
      cmd heading: 333.359540 deg,
      new cmd heading: 333.326273 deg.

2025-10-25T04:02:12.407Z,1761364932.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817641 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:12.531Z,1761364932.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.001813
2025-10-25T04:02:12.765Z,1761364932.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899284,0.433981,-0.054297],[-0.437169,0.895640,-0.081927],[0.013076,0.097413,0.995158]]
2025-10-25T04:02:12.782Z,1761364932.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.253004
2025-10-25T04:02:12.790Z,1761364932.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:12.814Z,1761364932.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 149.025223 m,
      bearing: 335.247929 deg,
      approach rate: -0.517751 m/s,
      LOS rate: -0.025356 deg/s,
      cmd heading: 333.326263 deg,
      new cmd heading: 333.296725 deg.

2025-10-25T04:02:12.815Z,1761364932.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817125 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:13.034Z,1761364933.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.505598
2025-10-25T04:02:13.153Z,1761364933.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899318,0.434039,-0.053278],[-0.437104,0.895837,-0.080101],[0.012961,0.095324,0.995362]]
2025-10-25T04:02:13.209Z,1761364933.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:13.211Z,1761364933.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 148.792969 m,
      bearing: 335.242836 deg,
      approach rate: -0.555808 m/s,
      LOS rate: -0.012207 deg/s,
      cmd heading: 333.296730 deg,
      new cmd heading: 333.281427 deg.

2025-10-25T04:02:13.213Z,1761364933.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816858 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:13.286Z,1761364933.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.757645
2025-10-25T04:02:13.537Z,1761364933.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.008683
2025-10-25T04:02:13.557Z,1761364933.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899394,0.433974,-0.052508],[-0.436943,0.896079,-0.078250],[0.013093,0.093321,0.995550]]
2025-10-25T04:02:13.605Z,1761364933.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:13.608Z,1761364933.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 148.587051 m,
      bearing: 335.238301 deg,
      approach rate: -0.547641 m/s,
      LOS rate: -0.012079 deg/s,
      cmd heading: 333.281430 deg,
      new cmd heading: 333.267805 deg.

2025-10-25T04:02:13.614Z,1761364933.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816620 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:13.790Z,1761364933.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.260692
2025-10-25T04:02:13.968Z,1761364933.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898187,0.436613,-0.051284],[-0.439400,0.895265,-0.073683],[0.013742,0.088715,0.995962]]
2025-10-25T04:02:13.992Z,1761364933.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:13.994Z,1761364933.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:13.998Z,1761364933.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 148.358337 m,
      bearing: 335.233512 deg,
      approach rate: -0.558411 m/s,
      LOS rate: -0.011711 deg/s,
      cmd heading: 333.267797 deg,
      new cmd heading: 333.253408 deg.

2025-10-25T04:02:13.999Z,1761364933.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816369 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:14.042Z,1761364934.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.513347
2025-10-25T04:02:14.294Z,1761364934.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.765182
2025-10-25T04:02:14.369Z,1761364934.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897682,0.437607,-0.051646],[-0.440425,0.894749,-0.073824],[0.013904,0.089016,0.995933]]
2025-10-25T04:02:14.464Z,1761364934.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:14.467Z,1761364934.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 148.104065 m,
      bearing: 335.237385 deg,
      approach rate: -0.544617 m/s,
      LOS rate: 0.008311 deg/s,
      cmd heading: 333.253399 deg,
      new cmd heading: 333.265039 deg.

2025-10-25T04:02:14.468Z,1761364934.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816572 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:14.547Z,1761364934.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.018184
2025-10-25T04:02:14.769Z,1761364934.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896941,0.439086,-0.051966],[-0.441924,0.894030,-0.073577],[0.014152,0.088960,0.995935]]
2025-10-25T04:02:14.788Z,1761364934.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:14.798Z,1761364934.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.269047
2025-10-25T04:02:14.811Z,1761364934.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 147.897324 m,
      bearing: 335.240679 deg,
      approach rate: -0.632078 m/s,
      LOS rate: 0.010084 deg/s,
      cmd heading: 333.265038 deg,
      new cmd heading: 333.274932 deg.

2025-10-25T04:02:14.814Z,1761364934.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816745 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:15.050Z,1761364935.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.520761
2025-10-25T04:02:15.264Z,1761364935.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:15.267Z,1761364935.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 147.618820 m,
      bearing: 335.252601 deg,
      approach rate: -0.589541 m/s,
      LOS rate: 0.025285 deg/s,
      cmd heading: 333.274928 deg,
      new cmd heading: 333.310762 deg.

2025-10-25T04:02:15.268Z,1761364935.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817370 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:15.303Z,1761364935.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.773497
2025-10-25T04:02:15.554Z,1761364935.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.024731
2025-10-25T04:02:15.604Z,1761364935.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:15.607Z,1761364935.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 147.395493 m,
      bearing: 335.262194 deg,
      approach rate: -0.649435 m/s,
      LOS rate: 0.027938 deg/s,
      cmd heading: 333.310773 deg,
      new cmd heading: 333.339595 deg.

2025-10-25T04:02:15.608Z,1761364935.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817873 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:15.808Z,1761364935.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.279223
2025-10-25T04:02:15.982Z,1761364935.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894323,0.444285,-0.052898],[-0.447169,0.891530,-0.072214],[0.015077,0.088237,0.995985]]
2025-10-25T04:02:15.000Z,1761364936.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:16.002Z,1761364936.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:16.005Z,1761364936.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 147.151749 m,
      bearing: 335.273264 deg,
      approach rate: -0.612322 m/s,
      LOS rate: 0.027857 deg/s,
      cmd heading: 333.339596 deg,
      new cmd heading: 333.372862 deg.

2025-10-25T04:02:16.006Z,1761364936.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818454 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:16.058Z,1761364936.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.528961
2025-10-25T04:02:16.310Z,1761364936.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.781554
2025-10-25T04:02:16.391Z,1761364936.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893285,0.446321,-0.053281],[-0.449233,0.890489,-0.072237],[0.015205,0.088464,0.995963]]
2025-10-25T04:02:16.441Z,1761364936.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:16.446Z,1761364936.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 146.879898 m,
      bearing: 335.289115 deg,
      approach rate: -0.620965 m/s,
      LOS rate: 0.036273 deg/s,
      cmd heading: 333.372873 deg,
      new cmd heading: 333.420513 deg.

2025-10-25T04:02:16.448Z,1761364936.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819286 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:16.563Z,1761364936.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.034307
2025-10-25T04:02:16.789Z,1761364936.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892697,0.447366,-0.054367],[-0.450385,0.889831,-0.073169],[0.015644,0.089803,0.995837]]
2025-10-25T04:02:16.814Z,1761364936.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.285351
2025-10-25T04:02:16.822Z,1761364936.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:16.825Z,1761364936.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 146.644897 m,
      bearing: 335.302981 deg,
      approach rate: -0.615172 m/s,
      LOS rate: 0.036356 deg/s,
      cmd heading: 333.420520 deg,
      new cmd heading: 333.462185 deg.

2025-10-25T04:02:16.826Z,1761364936.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820013 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:17.066Z,1761364937.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.536815
2025-10-25T04:02:17.228Z,1761364937.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891888,0.448856,-0.055342],[-0.451966,0.888997,-0.073559],[0.016181,0.090619,0.995754]]
2025-10-25T04:02:17.297Z,1761364937.297 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -75,   -4,A
2025-10-25T04:02:17.318Z,1761364937.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.788879
2025-10-25T04:02:17.349Z,1761364937.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:17.351Z,1761364937.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 146.329773 m,
      bearing: 335.321865 deg,
      approach rate: -0.603238 m/s,
      LOS rate: 0.036228 deg/s,
      cmd heading: 333.462184 deg,
      new cmd heading: 333.518959 deg.

2025-10-25T04:02:17.352Z,1761364937.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821004 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:17.569Z,1761364937.569 [DAT](INFO): Reached modem response timeout
2025-10-25T04:02:17.569Z,1761364937.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:02:17.570Z,1761364937.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:17.651Z,1761364937.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891332,0.449920,-0.055677],[-0.453060,0.888417,-0.073832],[0.016245,0.091034,0.995715]]
2025-10-25T04:02:17.670Z,1761364937.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:17.673Z,1761364937.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 146.119492 m,
      bearing: 335.334615 deg,
      approach rate: -0.644904 m/s,
      LOS rate: 0.039157 deg/s,
      cmd heading: 333.518957 deg,
      new cmd heading: 333.557260 deg.

2025-10-25T04:02:17.674Z,1761364937.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821672 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:17.821Z,1761364937.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:02:18.053Z,1761364938.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890955,0.450608,-0.056149],[-0.453793,0.888026,-0.074044],[0.016496,0.091450,0.995673]]
2025-10-25T04:02:18.071Z,1761364938.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:18.073Z,1761364938.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:02:18.074Z,1761364938.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:18.077Z,1761364938.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 145.870667 m,
      bearing: 335.349831 deg,
      approach rate: -0.618425 m/s,
      LOS rate: 0.037881 deg/s,
      cmd heading: 333.557260 deg,
      new cmd heading: 333.602985 deg.

2025-10-25T04:02:18.078Z,1761364938.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822471 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:18.326Z,1761364938.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:02:18.545Z,1761364938.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:18.548Z,1761364938.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 145.618622 m,
      bearing: 335.364556 deg,
      approach rate: -0.538982 m/s,
      LOS rate: 0.031544 deg/s,
      cmd heading: 333.602995 deg,
      new cmd heading: 333.647248 deg.

2025-10-25T04:02:18.549Z,1761364938.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823243 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:18.578Z,1761364938.578 [DAT](INFO): DAT read: Response Not Received

2025-10-25T04:02:18.578Z,1761364938.578 [DAT](INFO): response not received
2025-10-25T04:02:18.579Z,1761364938.579 [DAT](INFO): DAT read: user:287>

2025-10-25T04:02:18.580Z,1761364938.580 [DAT](INFO): DAT read: Tx time:04:02:18.0730

2025-10-25T04:02:18.581Z,1761364938.581 [DAT](INFO): Ping request sent.
2025-10-25T04:02:18.581Z,1761364938.581 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:18.581Z,1761364938.581 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:18.582Z,1761364938.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775
2025-10-25T04:02:18.831Z,1761364938.831 [DAT](INFO): DAT read: TxSync time:04:02:18.0722

2025-10-25T04:02:18.832Z,1761364938.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801
2025-10-25T04:02:18.870Z,1761364938.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890622,0.451133,-0.057198],[-0.454427,0.887632,-0.074871],[0.016994,0.092674,0.995551]]
2025-10-25T04:02:18.903Z,1761364938.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:18.910Z,1761364938.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 145.403671 m,
      bearing: 335.377217 deg,
      approach rate: -0.592920 m/s,
      LOS rate: 0.034977 deg/s,
      cmd heading: 333.647255 deg,
      new cmd heading: 333.685296 deg.

2025-10-25T04:02:18.911Z,1761364938.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823907 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:19.082Z,1761364939.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501084
2025-10-25T04:02:19.265Z,1761364939.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889547,0.452306,-0.064224],[-0.456444,0.885817,-0.083589],[0.019082,0.103671,0.994429]]
2025-10-25T04:02:19.334Z,1761364939.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753074
2025-10-25T04:02:19.359Z,1761364939.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:19.363Z,1761364939.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 145.148682 m,
      bearing: 335.385980 deg,
      approach rate: -0.559162 m/s,
      LOS rate: 0.019248 deg/s,
      cmd heading: 333.685286 deg,
      new cmd heading: 333.711619 deg.

2025-10-25T04:02:19.364Z,1761364939.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824367 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:19.587Z,1761364939.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006246
2025-10-25T04:02:19.669Z,1761364939.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888592,0.454180,-0.064223],[-0.458284,0.884995,-0.082219],[0.019495,0.102491,0.994543]]
2025-10-25T04:02:19.688Z,1761364939.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:19.691Z,1761364939.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 144.967865 m,
      bearing: 335.392359 deg,
      approach rate: -0.549473 m/s,
      LOS rate: 0.019411 deg/s,
      cmd heading: 333.711623 deg,
      new cmd heading: 333.730786 deg.

2025-10-25T04:02:19.692Z,1761364939.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824701 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:19.837Z,1761364939.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256574
2025-10-25T04:02:20.089Z,1761364940.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508541
2025-10-25T04:02:20.122Z,1761364940.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:20.124Z,1761364940.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:20.127Z,1761364940.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 144.729080 m,
      bearing: 335.400809 deg,
      approach rate: -0.547579 m/s,
      LOS rate: 0.019408 deg/s,
      cmd heading: 333.730775 deg,
      new cmd heading: 333.756164 deg.

2025-10-25T04:02:20.128Z,1761364940.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825144 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:20.342Z,1761364940.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761520
2025-10-25T04:02:20.477Z,1761364940.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888422,0.454829,-0.061941],[-0.458679,0.884882,-0.081225],[0.017867,0.100574,0.994769]]
2025-10-25T04:02:20.522Z,1761364940.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:20.546Z,1761364940.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 144.521408 m,
      bearing: 335.403668 deg,
      approach rate: -0.521826 m/s,
      LOS rate: 0.007195 deg/s,
      cmd heading: 333.756156 deg,
      new cmd heading: 333.764745 deg.

2025-10-25T04:02:20.553Z,1761364940.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825294 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:20.597Z,1761364940.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016279
2025-10-25T04:02:20.850Z,1761364940.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268699
2025-10-25T04:02:20.881Z,1761364940.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889066,0.453635,-0.061459],[-0.457458,0.885425,-0.082183],[0.017137,0.101181,0.994720]]
2025-10-25T04:02:20.919Z,1761364940.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:20.926Z,1761364940.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 144.323837 m,
      bearing: 335.406288 deg,
      approach rate: -0.497171 m/s,
      LOS rate: 0.006603 deg/s,
      cmd heading: 333.764734 deg,
      new cmd heading: 333.772607 deg.

2025-10-25T04:02:20.927Z,1761364940.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825431 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:21.101Z,1761364941.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520583
2025-10-25T04:02:21.302Z,1761364941.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890068,0.451734,-0.060958],[-0.455539,0.886278,-0.083637],[0.016244,0.102211,0.994630]]
2025-10-25T04:02:21.354Z,1761364941.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772708
2025-10-25T04:02:21.406Z,1761364941.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:21.408Z,1761364941.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 144.063660 m,
      bearing: 335.404564 deg,
      approach rate: -0.535215 m/s,
      LOS rate: -0.003553 deg/s,
      cmd heading: 333.772603 deg,
      new cmd heading: 333.767421 deg.

2025-10-25T04:02:21.425Z,1761364941.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825340 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:21.606Z,1761364941.606 [DAT](INFO): DAT read: Rx Time:04:02:20.6684

2025-10-25T04:02:21.606Z,1761364941.606 [DAT](INFO): Rx dataTimestamp_ set to:1761364941.605908
2025-10-25T04:02:21.607Z,1761364941.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025875
2025-10-25T04:02:21.751Z,1761364941.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890812,0.450315,-0.060581],[-0.454106,0.886903,-0.084803],[0.015541,0.103054,0.994554]]
2025-10-25T04:02:21.805Z,1761364941.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:21.807Z,1761364941.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 143.855347 m,
      bearing: 335.403046 deg,
      approach rate: -0.522399 m/s,
      LOS rate: -0.003812 deg/s,
      cmd heading: 333.767412 deg,
      new cmd heading: 333.762851 deg.

2025-10-25T04:02:21.808Z,1761364941.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825261 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:21.859Z,1761364941.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277619
2025-10-25T04:02:22.112Z,1761364942.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530625
2025-10-25T04:02:22.166Z,1761364942.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891568,0.448847,-0.060352],[-0.452638,0.887548,-0.085896],[0.015011,0.103900,0.994474]]
2025-10-25T04:02:22.290Z,1761364942.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:22.298Z,1761364942.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.11 m.
2025-10-25T04:02:22.314Z,1761364942.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.106323 m,
      nav range: 143.643921 m,
      bearing: 335.401363 deg,
      approach rate: -0.428205 m/s,
      LOS rate: -0.003415 deg/s,
      cmd heading: 333.762849 deg,
      new cmd heading: 333.757791 deg.

2025-10-25T04:02:22.315Z,1761364942.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825172 target range: 153.106323 and range: 153.80 m.
2025-10-25T04:02:22.375Z,1761364942.375 [DAT](INFO): DAT read: 04:02:20.6684 LVL= 20864, 31585, 18002, 32755, AGC= 63, IDX= 481, 0.16,-2.831, 2.098,-2.856, 3.011, PHS= 0.529,-0.866, 0.413, RAW= 145.7,  -1.2, CAL= 149.7, -10.2, ROT=   0.3,  10.2

2025-10-25T04:02:22.377Z,1761364942.377 [DAT](INFO): got valid direction response:
 04:02:20.6684 LVL= 20864, 31585, 18002, 32755, AGC= 63, IDX= 481, 0.16,-2.831, 2.098,-2.856, 3.011, PHS= 0.529,-0.866, 0.413, RAW= 145.7,  -1.2, CAL= 149.7, -10.2, ROT=   0.3,  10.2

2025-10-25T04:02:22.379Z,1761364942.379 [DAT](INFO): DAT read: Bearing   0.3,  10.2 (Local)

2025-10-25T04:02:22.380Z,1761364942.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  10.2 (Local)

2025-10-25T04:02:22.383Z,1761364942.383 [DAT](INFO): DAT read: Range 10 to 50 : 143.4 m  (Round-trip  191.2 ms) speed  0.4 m/s

2025-10-25T04:02:22.384Z,1761364942.384 [DAT](INFO): DAT read: user:288>

2025-10-25T04:02:22.386Z,1761364942.386 [DAT](INFO): DAT read: Tx time:04:02:21.7731

2025-10-25T04:02:22.387Z,1761364942.387 [DAT](INFO): Ping request sent.
2025-10-25T04:02:22.387Z,1761364942.387 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:22.388Z,1761364942.388 [DAT](INFO): DAT read: TxSync time:04:02:21.7723

2025-10-25T04:02:22.393Z,1761364942.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:22.394Z,1761364942.394 [DAT](INFO): direction in FSK: [0.984182,0.005153,-0.177085]
2025-10-25T04:02:22.394Z,1761364942.394 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:22.395Z,1761364942.395 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:22.408Z,1761364942.408 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:22.408Z,1761364942.408 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:22.716Z,1761364942.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.399994 m,
      deltaT: 18.398047 s,
      deltaX: -10.400009 m,
      approachRate: -0.565278 m/s,
      rangeRepo size: 4

2025-10-25T04:02:22.723Z,1761364942.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.761642 m,
      bearing: 334.449552 deg,
      lat: 36.779453 deg,
      lon: -121.859745 deg,
      deltaT: 18.398047 s,
      deltaX: -10.344681 m,
      approachRate: -0.562271 m/s,
      posRepo size: 4

2025-10-25T04:02:22.724Z,1761364942.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:22.727Z,1761364942.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 141.267365 m,
      bearing: 334.520402 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003415 deg/s,
      cmd heading: 333.757795 deg,
      new cmd heading: 333.753520 deg.

2025-10-25T04:02:22.728Z,1761364942.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825098 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:23.052Z,1761364943.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892623,0.446667,-0.060936],[-0.450528,0.888621,-0.085892],[0.015784,0.104122,0.994439]]
2025-10-25T04:02:23.072Z,1761364943.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:23.074Z,1761364943.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 141.070236 m,
      bearing: 334.516355 deg,
      approach rate: -0.553486 m/s,
      LOS rate: -0.011378 deg/s,
      cmd heading: 333.753533 deg,
      new cmd heading: 333.741376 deg.

2025-10-25T04:02:23.075Z,1761364943.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824886 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:23.448Z,1761364943.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893284,0.445352,-0.060870],[-0.449197,0.889386,-0.084943],[0.016308,0.103221,0.994525]]
2025-10-25T04:02:23.503Z,1761364943.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:23.510Z,1761364943.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 140.845612 m,
      bearing: 334.511221 deg,
      approach rate: -0.520386 m/s,
      LOS rate: -0.011912 deg/s,
      cmd heading: 333.741375 deg,
      new cmd heading: 333.725950 deg.

2025-10-25T04:02:23.511Z,1761364943.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824616 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:23.849Z,1761364943.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894165,0.443650,-0.060359],[-0.447462,0.890185,-0.085725],[0.015698,0.103660,0.994489]]
2025-10-25T04:02:23.877Z,1761364943.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:23.880Z,1761364943.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 140.634689 m,
      bearing: 334.506218 deg,
      approach rate: -0.565022 m/s,
      LOS rate: -0.013423 deg/s,
      cmd heading: 333.725939 deg,
      new cmd heading: 333.710906 deg.

2025-10-25T04:02:23.881Z,1761364943.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824354 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:24.277Z,1761364944.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894783,0.442623,-0.058716],[-0.446236,0.891016,-0.083449],[0.015381,0.100870,0.994781]]
2025-10-25T04:02:24.374Z,1761364944.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:24.376Z,1761364944.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:24.378Z,1761364944.378 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:24.378Z,1761364944.378 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:24.378Z,1761364944.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:24.383Z,1761364944.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 140.359436 m,
      bearing: 334.505779 deg,
      approach rate: -0.551094 m/s,
      LOS rate: -0.000881 deg/s,
      cmd heading: 333.710912 deg,
      new cmd heading: 333.709593 deg.

2025-10-25T04:02:24.385Z,1761364944.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824331 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:24.631Z,1761364944.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243863
2025-10-25T04:02:24.664Z,1761364944.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895325,0.441572,-0.058364],[-0.445150,0.891580,-0.083221],[0.015288,0.100491,0.994820]]
2025-10-25T04:02:24.698Z,1761364944.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:24.701Z,1761364944.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 140.183121 m,
      bearing: 334.505410 deg,
      approach rate: -0.550720 m/s,
      LOS rate: -0.001153 deg/s,
      cmd heading: 333.709601 deg,
      new cmd heading: 333.708494 deg.

2025-10-25T04:02:24.702Z,1761364944.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824312 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:24.881Z,1761364944.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494519
2025-10-25T04:02:25.065Z,1761364945.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895805,0.440598,-0.058363],[-0.444170,0.892130,-0.082571],[0.015687,0.099891,0.994875]]
2025-10-25T04:02:25.087Z,1761364945.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:25.090Z,1761364945.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 139.968781 m,
      bearing: 334.504867 deg,
      approach rate: -0.548769 m/s,
      LOS rate: -0.001394 deg/s,
      cmd heading: 333.708481 deg,
      new cmd heading: 333.706848 deg.

2025-10-25T04:02:25.091Z,1761364945.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824283 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:25.134Z,1761364945.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746810
2025-10-25T04:02:25.388Z,1761364945.388 [DAT](INFO): DAT read: Rx Time:04:02:24.3657

2025-10-25T04:02:25.388Z,1761364945.388 [DAT](INFO): Rx dataTimestamp_ set to:1761364945.387835
2025-10-25T04:02:25.389Z,1761364945.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001904
2025-10-25T04:02:25.502Z,1761364945.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895707,0.440846,-0.057995],[-0.444360,0.892152,-0.081299],[0.015900,0.098591,0.995001]]
2025-10-25T04:02:25.581Z,1761364945.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:25.587Z,1761364945.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 139.681824 m,
      bearing: 334.510922 deg,
      approach rate: -0.581429 m/s,
      LOS rate: 0.012294 deg/s,
      cmd heading: 333.706842 deg,
      new cmd heading: 333.725044 deg.

2025-10-25T04:02:25.588Z,1761364945.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824601 target range: 142.761642 and range: 143.40 m.
2025-10-25T04:02:25.643Z,1761364945.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256177
2025-10-25T04:02:25.891Z,1761364945.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895669,0.440877,-0.058352],[-0.444422,0.892144,-0.081044],[0.016328,0.098522,0.995001]]
2025-10-25T04:02:25.900Z,1761364945.900 [DAT](INFO): DAT read: 04:02:24.3657 LVL= 19088, 28257, 18418, 24003, AGC= 64, IDX= 405, 0.25, 1.997, 0.535, 1.997, 1.558, PHS-0.976, 0.436, RAW= 146.9,   0.2, CAL= 150.4,  -8.8, ROT= 359.6,   8.8

2025-10-25T04:02:25.902Z,1761364945.902 [DAT](INFO): unknown deviceResponse_: 04:02:24.3657 LVL= 19088, 28257, 18418, 24003, AGC= 64, IDX= 405, 0.25, 1.997, 0.535, 1.997, 1.558, PHS-0.976, 0.436, RAW= 146.9,   0.2, CAL= 150.4,  -8.8, ROT= 359.6,   8.8

2025-10-25T04:02:25.903Z,1761364945.903 [DAT](INFO): DAT read: Bearing 359.6,   8.8 (Local)

2025-10-25T04:02:25.903Z,1761364945.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,   8.8 (Local)

2025-10-25T04:02:25.904Z,1761364945.904 [DAT](INFO): DAT read: Range 10 to 50 : 141.3 m  (Round-trip  188.4 ms) speed  0.5 m/s

2025-10-25T04:02:25.905Z,1761364945.905 [DAT](INFO): DAT read: user:289>

2025-10-25T04:02:25.906Z,1761364945.906 [DAT](INFO): DAT read: Tx time:04:02:25.4731

2025-10-25T04:02:25.906Z,1761364945.906 [DAT](INFO): Ping request sent.
2025-10-25T04:02:25.906Z,1761364945.906 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:25.907Z,1761364945.907 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:02:25.907Z,1761364945.907 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:25.907Z,1761364945.907 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:25.926Z,1761364945.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.300003 m,
      deltaT: 3.530535 s,
      deltaX: -2.099991 m,
      approachRate: -0.594808 m/s,
      rangeRepo size: 4

2025-10-25T04:02:25.927Z,1761364945.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:25.958Z,1761364945.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 139.481537 m,
      bearing: 334.515170 deg,
      approach rate: -0.579670 m/s,
      LOS rate: 0.012311 deg/s,
      cmd heading: 333.725037 deg,
      new cmd heading: 333.737799 deg.

2025-10-25T04:02:25.959Z,1761364945.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824823 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:26.147Z,1761364946.147 [DAT](INFO): DAT read: TxSync time:04:02:25.4723

2025-10-25T04:02:26.353Z,1761364946.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895166,0.441834,-0.058824],[-0.445400,0.891774,-0.079736],[0.017228,0.097577,0.995079]]
2025-10-25T04:02:26.425Z,1761364946.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:26.427Z,1761364946.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:26.434Z,1761364946.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 139.194443 m,
      bearing: 334.525316 deg,
      approach rate: -0.573080 m/s,
      LOS rate: 0.020296 deg/s,
      cmd heading: 333.737796 deg,
      new cmd heading: 333.768299 deg.

2025-10-25T04:02:26.435Z,1761364946.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825356 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:26.650Z,1761364946.650 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:26.650Z,1761364946.650 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:26.651Z,1761364946.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:26.715Z,1761364946.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894595,0.443980,-0.050806],[-0.446504,0.892700,-0.061001],[0.018271,0.077257,0.996844]]
2025-10-25T04:02:26.746Z,1761364946.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:26.753Z,1761364946.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 139.005554 m,
      bearing: 334.532166 deg,
      approach rate: -0.592844 m/s,
      LOS rate: 0.021529 deg/s,
      cmd heading: 333.768286 deg,
      new cmd heading: 333.788864 deg.

2025-10-25T04:02:26.754Z,1761364946.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825715 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:26.901Z,1761364946.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995149
2025-10-25T04:02:27.110Z,1761364947.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894742,0.443493,-0.052448],[-0.446195,0.892676,-0.063561],[0.018630,0.080273,0.996599]]
2025-10-25T04:02:27.131Z,1761364947.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:27.134Z,1761364947.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 138.779343 m,
      bearing: 334.540353 deg,
      approach rate: -0.588209 m/s,
      LOS rate: 0.021323 deg/s,
      cmd heading: 333.788859 deg,
      new cmd heading: 333.813459 deg.

2025-10-25T04:02:27.135Z,1761364947.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826144 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:27.154Z,1761364947.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247216
2025-10-25T04:02:27.407Z,1761364947.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500785
2025-10-25T04:02:27.516Z,1761364947.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895500,0.441720,-0.054430],[-0.444653,0.893201,-0.066900],[0.019066,0.084112,0.996274]]
2025-10-25T04:02:27.554Z,1761364947.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:27.577Z,1761364947.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 138.533905 m,
      bearing: 334.552091 deg,
      approach rate: -0.579095 m/s,
      LOS rate: 0.027743 deg/s,
      cmd heading: 333.813447 deg,
      new cmd heading: 333.848722 deg.

2025-10-25T04:02:27.578Z,1761364947.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826759 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:27.658Z,1761364947.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751801
2025-10-25T04:02:27.909Z,1761364947.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003160
2025-10-25T04:02:27.922Z,1761364947.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896722,0.439015,-0.056179],[-0.442179,0.894135,-0.070708],[0.019190,0.088247,0.995914]]
2025-10-25T04:02:27.961Z,1761364947.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:27.965Z,1761364947.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 138.298782 m,
      bearing: 334.563095 deg,
      approach rate: -0.578140 m/s,
      LOS rate: 0.027103 deg/s,
      cmd heading: 333.848718 deg,
      new cmd heading: 333.881786 deg.

2025-10-25T04:02:27.966Z,1761364947.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827336 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:28.164Z,1761364948.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258030
2025-10-25T04:02:28.385Z,1761364948.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897932,0.436245,-0.058380],[-0.439708,0.894969,-0.075419],[0.019347,0.093392,0.995441]]
2025-10-25T04:02:28.414Z,1761364948.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507857
2025-10-25T04:02:28.434Z,1761364948.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:28.436Z,1761364948.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:28.439Z,1761364948.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 138.023575 m,
      bearing: 334.575999 deg,
      approach rate: -0.579312 m/s,
      LOS rate: 0.027218 deg/s,
      cmd heading: 333.881776 deg,
      new cmd heading: 333.920568 deg.

2025-10-25T04:02:28.440Z,1761364948.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828013 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:28.665Z,1761364948.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759102
2025-10-25T04:02:28.724Z,1761364948.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898732,0.434393,-0.059861],[-0.438060,0.895529,-0.078303],[0.019593,0.096597,0.995131]]
2025-10-25T04:02:28.754Z,1761364948.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:28.757Z,1761364948.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 137.838074 m,
      bearing: 334.584582 deg,
      approach rate: -0.581990 m/s,
      LOS rate: 0.026964 deg/s,
      cmd heading: 333.920572 deg,
      new cmd heading: 333.946355 deg.

2025-10-25T04:02:28.758Z,1761364948.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828464 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:28.918Z,1761364948.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011258
2025-10-25T04:02:29.128Z,1761364949.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898751,0.434299,-0.060261],[-0.438027,0.895446,-0.079424],[0.019466,0.097779,0.995018]]
2025-10-25T04:02:29.149Z,1761364949.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:29.152Z,1761364949.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 137.608658 m,
      bearing: 334.595225 deg,
      approach rate: -0.581608 m/s,
      LOS rate: 0.027027 deg/s,
      cmd heading: 333.946363 deg,
      new cmd heading: 333.978346 deg.

2025-10-25T04:02:29.153Z,1761364949.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829022 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:29.170Z,1761364949.170 [DAT](INFO): DAT read: Rx Time:04:02:28.0626

2025-10-25T04:02:29.170Z,1761364949.170 [DAT](INFO): Rx dataTimestamp_ set to:1761364949.169796
2025-10-25T04:02:29.171Z,1761364949.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264290
2025-10-25T04:02:29.422Z,1761364949.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515191
2025-10-25T04:02:29.633Z,1761364949.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.76 m.
2025-10-25T04:02:29.636Z,1761364949.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.761642 m,
      nav range: 137.344345 m,
      bearing: 334.603025 deg,
      approach rate: -0.550623 m/s,
      LOS rate: 0.016281 deg/s,
      cmd heading: 333.978355 deg,
      new cmd heading: 334.001800 deg.

2025-10-25T04:02:29.641Z,1761364949.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829431 target range: 142.761642 and range: 141.30 m.
2025-10-25T04:02:29.684Z,1761364949.684 [DAT](INFO): DAT read: 04:02:28.0626 LVL= 22112, 29137, 22370, 32755, AGC= 67, IDX= 407, 0.10,-1.896, 3.012,-1.884,-2.343, PHS= 0.535,-0.881, 0.456, RAW= 147.2,  -1.6, CAL= 151.2, -10.6, ROT= 358.8,  10.6

2025-10-25T04:02:29.686Z,1761364949.686 [DAT](INFO): got valid direction response:
 04:02:28.0626 LVL= 22112, 29137, 22370, 32755, AGC= 67, IDX= 407, 0.10,-1.896, 3.012,-1.884,-2.343, PHS= 0.535,-0.881, 0.456, RAW= 147.2,  -1.6, CAL= 151.2, -10.6, ROT= 358.8,  10.6

2025-10-25T04:02:29.686Z,1761364949.686 [DAT](INFO): DAT read: Bearing 358.8,  10.6 (Local)

2025-10-25T04:02:29.687Z,1761364949.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  10.6 (Local)

2025-10-25T04:02:29.688Z,1761364949.688 [DAT](INFO): DAT read: Range 10 to 50 : 139.0 m  (Round-trip  185.4 ms) speed  0.1 m/s

2025-10-25T04:02:29.689Z,1761364949.689 [DAT](INFO): DAT read: user:290>

2025-10-25T04:02:29.690Z,1761364949.690 [DAT](INFO): DAT read: Tx time:04:02:29.1731

2025-10-25T04:02:29.690Z,1761364949.690 [DAT](INFO): Ping request sent.
2025-10-25T04:02:29.690Z,1761364949.690 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:29.691Z,1761364949.691 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:29.691Z,1761364949.691 [DAT](INFO): direction in FSK: [0.982720,-0.020585,-0.183951]
2025-10-25T04:02:29.692Z,1761364949.692 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:29.692Z,1761364949.692 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:29.695Z,1761364949.695 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:29.696Z,1761364949.696 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:29.926Z,1761364949.926 [DAT](INFO): DAT read: TxSync time:04:02:29.1723

2025-10-25T04:02:29.982Z,1761364949.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898595,0.434479,-0.061278],[-0.438345,0.895123,-0.081300],[0.019528,0.099916,0.994804]]
2025-10-25T04:02:30.027Z,1761364950.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.000000 m,
      deltaT: 3.781683 s,
      deltaX: -2.300003 m,
      approachRate: -0.608196 m/s,
      rangeRepo size: 4

2025-10-25T04:02:30.034Z,1761364950.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.358566 m,
      bearing: 333.874423 deg,
      lat: 36.779453 deg,
      lon: -121.859745 deg,
      deltaT: 7.312218 s,
      deltaX: -4.403076 m,
      approachRate: -0.602153 m/s,
      posRepo size: 4

2025-10-25T04:02:30.035Z,1761364950.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:30.042Z,1761364950.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 137.135101 m,
      bearing: 334.609257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016281 deg/s,
      cmd heading: 334.001797 deg,
      new cmd heading: 334.021239 deg.

2025-10-25T04:02:30.043Z,1761364950.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829771 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:30.418Z,1761364950.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898067,0.435345,-0.062853],[-0.439374,0.894581,-0.081705],[0.020658,0.100992,0.994673]]
2025-10-25T04:02:30.457Z,1761364950.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:30.459Z,1761364950.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:30.482Z,1761364950.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 136.899582 m,
      bearing: 334.610598 deg,
      approach rate: -0.544638 m/s,
      LOS rate: 0.003108 deg/s,
      cmd heading: 334.021249 deg,
      new cmd heading: 334.025281 deg.

2025-10-25T04:02:30.483Z,1761364950.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829841 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:30.684Z,1761364950.684 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:30.684Z,1761364950.684 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:30.685Z,1761364950.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:30.772Z,1761364950.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898106,0.435213,-0.063212],[-0.439292,0.894562,-0.082343],[0.020710,0.101722,0.994597]]
2025-10-25T04:02:30.826Z,1761364950.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:30.833Z,1761364950.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 136.711426 m,
      bearing: 334.611668 deg,
      approach rate: -0.513319 m/s,
      LOS rate: 0.002923 deg/s,
      cmd heading: 334.025292 deg,
      new cmd heading: 334.028507 deg.

2025-10-25T04:02:30.834Z,1761364950.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829897 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:30.936Z,1761364950.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245607
2025-10-25T04:02:31.177Z,1761364951.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898568,0.434256,-0.063225],[-0.438352,0.894973,-0.082891],[0.020589,0.102198,0.994551]]
2025-10-25T04:02:31.186Z,1761364951.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495372
2025-10-25T04:02:31.200Z,1761364951.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:31.203Z,1761364951.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 136.511307 m,
      bearing: 334.612723 deg,
      approach rate: -0.534780 m/s,
      LOS rate: 0.002823 deg/s,
      cmd heading: 334.028516 deg,
      new cmd heading: 334.031685 deg.

2025-10-25T04:02:31.204Z,1761364951.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829953 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:31.438Z,1761364951.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747312
2025-10-25T04:02:31.582Z,1761364951.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899039,0.433475,-0.061868],[-0.437452,0.895330,-0.083784],[0.019074,0.102389,0.994562]]
2025-10-25T04:02:31.657Z,1761364951.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:31.659Z,1761364951.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 136.291138 m,
      bearing: 334.607617 deg,
      approach rate: -0.486694 m/s,
      LOS rate: -0.011306 deg/s,
      cmd heading: 334.031685 deg,
      new cmd heading: 334.016342 deg.

2025-10-25T04:02:31.660Z,1761364951.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829685 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:31.690Z,1761364951.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999415
2025-10-25T04:02:31.942Z,1761364951.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251298
2025-10-25T04:02:31.988Z,1761364951.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899789,0.432051,-0.060932],[-0.435963,0.895924,-0.085179],[0.017789,0.103207,0.994501]]
2025-10-25T04:02:32.018Z,1761364952.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:32.021Z,1761364952.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 136.098419 m,
      bearing: 334.603002 deg,
      approach rate: -0.526532 m/s,
      LOS rate: -0.012628 deg/s,
      cmd heading: 334.016331 deg,
      new cmd heading: 334.002466 deg.

2025-10-25T04:02:32.022Z,1761364952.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829443 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:32.194Z,1761364952.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503953
2025-10-25T04:02:32.446Z,1761364952.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755471
2025-10-25T04:02:32.456Z,1761364952.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900105,0.431532,-0.059923],[-0.435349,0.896188,-0.085546],[0.016787,0.103087,0.994531]]
2025-10-25T04:02:32.507Z,1761364952.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:32.511Z,1761364952.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:32.517Z,1761364952.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 135.850967 m,
      bearing: 334.591059 deg,
      approach rate: -0.504603 m/s,
      LOS rate: -0.024399 deg/s,
      cmd heading: 334.002452 deg,
      new cmd heading: 333.966558 deg.

2025-10-25T04:02:32.518Z,1761364952.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828816 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:32.698Z,1761364952.698 [DAT](INFO): DAT read: Rx Time:04:02:31.7603

2025-10-25T04:02:32.699Z,1761364952.699 [DAT](INFO): Rx dataTimestamp_ set to:1761364952.698604
2025-10-25T04:02:32.701Z,1761364952.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010055
2025-10-25T04:02:32.844Z,1761364952.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:32.849Z,1761364952.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 135.687317 m,
      bearing: 334.583135 deg,
      approach rate: -0.488136 m/s,
      LOS rate: -0.023662 deg/s,
      cmd heading: 333.966553 deg,
      new cmd heading: 333.942755 deg.

2025-10-25T04:02:32.850Z,1761364952.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828401 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:32.950Z,1761364952.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259414
2025-10-25T04:02:33.204Z,1761364953.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513466
2025-10-25T04:02:33.274Z,1761364953.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.36 m.
2025-10-25T04:02:33.279Z,1761364953.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.358566 m,
      nav range: 135.464752 m,
      bearing: 334.572329 deg,
      approach rate: -0.517069 m/s,
      LOS rate: -0.025147 deg/s,
      cmd heading: 333.942756 deg,
      new cmd heading: 333.910284 deg.

2025-10-25T04:02:33.281Z,1761364953.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827834 target range: 138.358566 and range: 139.00 m.
2025-10-25T04:02:33.460Z,1761364953.460 [DAT](INFO): DAT read: 04:02:31.7603 LVL= 22816, 29409, 19250, 31539, AGC= 61, IDX= 413, 0.41,-0.720,-2.043,-0.669,-1.126, PHS= 0.494,-0.870, 0.454, RAW= 148.5,  -1.2, CAL= 152.3, -10.1, ROT= 357.7,  10.1

2025-10-25T04:02:33.462Z,1761364953.462 [DAT](INFO): got valid direction response:
 04:02:31.7603 LVL= 22816, 29409, 19250, 31539, AGC= 61, IDX= 413, 0.41,-0.720,-2.043,-0.669,-1.126, PHS= 0.494,-0.870, 0.454, RAW= 148.5,  -1.2, CAL= 152.3, -10.1, ROT= 357.7,  10.1

2025-10-25T04:02:33.464Z,1761364953.464 [DAT](INFO): DAT read: Bearing 357.7,  10.1 (Local)

2025-10-25T04:02:33.464Z,1761364953.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  10.1 (Local)

2025-10-25T04:02:33.466Z,1761364953.466 [DAT](INFO): DAT read: Range 10 to 50 : 137.2 m  (Round-trip  183.0 ms) speed  0.4 m/s

2025-10-25T04:02:33.467Z,1761364953.467 [DAT](INFO): DAT read: user:291>

2025-10-25T04:02:33.467Z,1761364953.467 [DAT](INFO): DAT read: Tx time:04:02:32.8732

2025-10-25T04:02:33.468Z,1761364953.468 [DAT](INFO): Ping request sent.
2025-10-25T04:02:33.468Z,1761364953.468 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:33.469Z,1761364953.469 [DAT](INFO): DAT read: TxSync time:04:02:32.8724

2025-10-25T04:02:33.469Z,1761364953.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:33.470Z,1761364953.470 [DAT](INFO): direction in FSK: [0.983710,-0.039510,-0.175367]
2025-10-25T04:02:33.471Z,1761364953.471 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:33.471Z,1761364953.471 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:33.475Z,1761364953.475 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:33.475Z,1761364953.475 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:33.614Z,1761364953.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901479,0.429011,-0.057316],[-0.432550,0.897678,-0.084111],[0.015366,0.100616,0.994807]]
2025-10-25T04:02:33.735Z,1761364953.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.199997 m,
      deltaT: 3.778317 s,
      deltaX: -1.800003 m,
      approachRate: -0.476403 m/s,
      rangeRepo size: 4

2025-10-25T04:02:33.741Z,1761364953.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.564331 m,
      bearing: 333.109118 deg,
      lat: 36.779450 deg,
      lon: -121.859759 deg,
      deltaT: 3.778317 s,
      deltaX: -1.794235 m,
      approachRate: -0.474877 m/s,
      posRepo size: 4

2025-10-25T04:02:33.743Z,1761364953.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:33.750Z,1761364953.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 135.441879 m,
      bearing: 333.999316 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025147 deg/s,
      cmd heading: 333.910272 deg,
      new cmd heading: 333.875609 deg.

2025-10-25T04:02:33.751Z,1761364953.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827229 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:34.038Z,1761364954.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901523,0.428937,-0.057175],[-0.432451,0.897791,-0.083412],[0.015553,0.099923,0.994874]]
2025-10-25T04:02:34.067Z,1761364954.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:34.070Z,1761364954.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 135.255035 m,
      bearing: 333.988425 deg,
      approach rate: -0.560253 m/s,
      LOS rate: -0.032704 deg/s,
      cmd heading: 333.875602 deg,
      new cmd heading: 333.842882 deg.

2025-10-25T04:02:34.071Z,1761364954.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826657 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:34.434Z,1761364954.434 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:02:34.490Z,1761364954.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901738,0.429265,-0.050990],[-0.431985,0.899205,-0.069427],[0.016048,0.084632,0.996283]]
2025-10-25T04:02:34.548Z,1761364954.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:34.554Z,1761364954.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:34.562Z,1761364954.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 135.010956 m,
      bearing: 333.975603 deg,
      approach rate: -0.501153 m/s,
      LOS rate: -0.026373 deg/s,
      cmd heading: 333.842872 deg,
      new cmd heading: 333.804339 deg.

2025-10-25T04:02:34.564Z,1761364954.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825985 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:34.713Z,1761364954.713 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:34.713Z,1761364954.713 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:34.714Z,1761364954.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:34.868Z,1761364954.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901662,0.429396,-0.051227],[-0.432144,0.899084,-0.069989],[0.016004,0.085244,0.996232]]
2025-10-25T04:02:34.891Z,1761364954.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:34.910Z,1761364954.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 134.827530 m,
      bearing: 333.965951 deg,
      approach rate: -0.545167 m/s,
      LOS rate: -0.028728 deg/s,
      cmd heading: 333.804349 deg,
      new cmd heading: 333.775352 deg.

2025-10-25T04:02:34.911Z,1761364954.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825479 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:34.966Z,1761364954.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497930
2025-10-25T04:02:35.220Z,1761364955.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883
2025-10-25T04:02:35.288Z,1761364955.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902812,0.426974,-0.051218],[-0.429758,0.900082,-0.071837],[0.015428,0.086866,0.996101]]
2025-10-25T04:02:35.353Z,1761364955.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:35.356Z,1761364955.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 134.602005 m,
      bearing: 333.953786 deg,
      approach rate: -0.488257 m/s,
      LOS rate: -0.026380 deg/s,
      cmd heading: 333.775362 deg,
      new cmd heading: 333.738808 deg.

2025-10-25T04:02:35.357Z,1761364955.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824841 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:35.438Z,1761364955.438 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:02:35.475Z,1761364955.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007222
2025-10-25T04:02:35.678Z,1761364955.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905982,0.420175,-0.051478],[-0.423101,0.902682,-0.078425],[0.013516,0.092832,0.995590]]
2025-10-25T04:02:35.726Z,1761364955.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257844
2025-10-25T04:02:35.735Z,1761364955.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:35.738Z,1761364955.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 134.376358 m,
      bearing: 333.946965 deg,
      approach rate: -0.590141 m/s,
      LOS rate: -0.017870 deg/s,
      cmd heading: 333.738807 deg,
      new cmd heading: 333.718309 deg.

2025-10-25T04:02:35.739Z,1761364955.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824483 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:35.978Z,1761364955.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509792
2025-10-25T04:02:36.083Z,1761364956.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906632,0.418735,-0.051761],[-0.421713,0.903193,-0.080006],[0.013248,0.094365,0.995450]]
2025-10-25T04:02:36.102Z,1761364956.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:36.105Z,1761364956.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 134.175461 m,
      bearing: 333.940738 deg,
      approach rate: -0.547602 m/s,
      LOS rate: -0.017000 deg/s,
      cmd heading: 333.718316 deg,
      new cmd heading: 333.699606 deg.

2025-10-25T04:02:36.106Z,1761364956.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824157 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:36.231Z,1761364956.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762972
2025-10-25T04:02:36.485Z,1761364956.485 [DAT](INFO): DAT read: Rx Time:04:02:35.4578

2025-10-25T04:02:36.487Z,1761364956.487 [DAT](INFO): Rx dataTimestamp_ set to:1761364956.486115
2025-10-25T04:02:36.490Z,1761364956.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021248
2025-10-25T04:02:36.527Z,1761364956.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906415,0.419191,-0.051863],[-0.422177,0.902980,-0.079954],[0.013315,0.094367,0.995448]]
2025-10-25T04:02:36.571Z,1761364956.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:36.574Z,1761364956.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:36.577Z,1761364956.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 133.900024 m,
      bearing: 333.940315 deg,
      approach rate: -0.583932 m/s,
      LOS rate: -0.000899 deg/s,
      cmd heading: 333.699602 deg,
      new cmd heading: 333.698330 deg.

2025-10-25T04:02:36.578Z,1761364956.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824134 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:36.735Z,1761364956.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266742
2025-10-25T04:02:36.923Z,1761364956.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906266,0.419465,-0.052267],[-0.422487,0.902843,-0.079872],[0.013685,0.094468,0.995434]]
2025-10-25T04:02:36.956Z,1761364956.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.56 m.
2025-10-25T04:02:36.959Z,1761364956.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.564331 m,
      nav range: 133.676086 m,
      bearing: 333.940002 deg,
      approach rate: -0.585951 m/s,
      LOS rate: -0.000819 deg/s,
      cmd heading: 333.698318 deg,
      new cmd heading: 333.697378 deg.

2025-10-25T04:02:36.960Z,1761364956.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824118 target range: 136.564331 and range: 137.20 m.
2025-10-25T04:02:36.992Z,1761364956.992 [DAT](INFO): DAT read: 04:02:35.4578 LVL= 24768, 31505, 21106, 32755, AGC= 65, IDX= 419, 0.38,-1.256,-2.575,-1.189,-1.640, PHS= 0.472,-0.888, 0.448, RAW= 149.1,  -0.5, CAL= 152.6,  -9.4, ROT= 357.4,   9.4

2025-10-25T04:02:36.997Z,1761364956.997 [DAT](INFO): got valid direction response:
 04:02:35.4578 LVL= 24768, 31505, 21106, 32755, AGC= 65, IDX= 419, 0.38,-1.256,-2.575,-1.189,-1.640, PHS= 0.472,-0.888, 0.448, RAW= 149.1,  -0.5, CAL= 152.6,  -9.4, ROT= 357.4,   9.4

2025-10-25T04:02:36.999Z,1761364956.999 [DAT](INFO): DAT read: Bearing 357.4,   9.4 (Local)

2025-10-25T04:02:36.999Z,1761364956.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   9.4 (Local)

2025-10-25T04:02:37.002Z,1761364957.002 [DAT](INFO): DAT read: Range 10 to 50 : 135.3 m  (Round-trip  180.4 ms) speed  0.5 mx time:04:02:36.5732

2025-10-25T04:02:37.003Z,1761364957.003 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:37.010Z,1761364957.010 [DAT](INFO): direction in FSK: [0.985557,-0.044754,-0.163326]
2025-10-25T04:02:37.010Z,1761364957.010 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:37.016Z,1761364957.016 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:37.016Z,1761364957.016 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:37.016Z,1761364957.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:37.238Z,1761364957.238 [DAT](INFO): DAT read: TxSync time:04:02:36.5724

2025-10-25T04:02:37.238Z,1761364957.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770677
2025-10-25T04:02:37.306Z,1761364957.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905759,0.420513,-0.052626],[-0.423558,0.902384,-0.079387],[0.014106,0.094196,0.995454]]
2025-10-25T04:02:37.364Z,1761364957.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.300003 m,
      deltaT: 3.531870 s,
      deltaX: -1.899994 m,
      approachRate: -0.537957 m/s,
      rangeRepo size: 4

2025-10-25T04:02:37.378Z,1761364957.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 134.667572 m,
      bearing: 333.246516 deg,
      lat: 36.779441 deg,
      lon: -121.859773 deg,
      deltaT: 3.531870 s,
      deltaX: -1.896759 m,
      approachRate: -0.537041 m/s,
      posRepo size: 4

2025-10-25T04:02:37.379Z,1761364957.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:37.418Z,1761364957.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 133.139709 m,
      bearing: 333.258968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000819 deg/s,
      cmd heading: 333.697389 deg,
      new cmd heading: 333.696389 deg.

2025-10-25T04:02:37.419Z,1761364957.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824100 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:37.494Z,1761364957.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025727
2025-10-25T04:02:37.742Z,1761364957.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274133
2025-10-25T04:02:37.776Z,1761364957.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905079,0.422322,-0.049751],[-0.424963,0.902517,-0.069789],[0.015428,0.084307,0.996320]]
2025-10-25T04:02:37.894Z,1761364957.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:37.905Z,1761364957.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 132.831207 m,
      bearing: 333.265725 deg,
      approach rate: -0.580723 m/s,
      LOS rate: 0.012748 deg/s,
      cmd heading: 333.696378 deg,
      new cmd heading: 333.716695 deg.

2025-10-25T04:02:37.906Z,1761364957.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824455 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:37.994Z,1761364957.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526184
2025-10-25T04:02:38.227Z,1761364958.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904615,0.423094,-0.051610],[-0.425929,0.901874,-0.072166],[0.016012,0.087265,0.996056]]
2025-10-25T04:02:38.247Z,1761364958.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778528
2025-10-25T04:02:38.264Z,1761364958.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:38.267Z,1761364958.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 132.587494 m,
      bearing: 333.271185 deg,
      approach rate: -0.659374 m/s,
      LOS rate: 0.014800 deg/s,
      cmd heading: 333.716704 deg,
      new cmd heading: 333.733115 deg.

2025-10-25T04:02:38.268Z,1761364958.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824742 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:38.501Z,1761364958.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032322
2025-10-25T04:02:38.621Z,1761364958.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904036,0.424168,-0.052927],[-0.427134,0.901217,-0.073247],[0.016630,0.088825,0.995908]]
2025-10-25T04:02:38.683Z,1761364958.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:38.687Z,1761364958.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:38.715Z,1761364958.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 132.330948 m,
      bearing: 333.281168 deg,
      approach rate: -0.606358 m/s,
      LOS rate: 0.023641 deg/s,
      cmd heading: 333.733124 deg,
      new cmd heading: 333.763131 deg.

2025-10-25T04:02:38.716Z,1761364958.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825265 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:38.753Z,1761364958.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284338
2025-10-25T04:02:39.002Z,1761364959.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533827
2025-10-25T04:02:39.031Z,1761364959.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903549,0.425248,-0.052560],[-0.428185,0.900681,-0.073701],[0.015999,0.089098,0.995894]]
2025-10-25T04:02:39.050Z,1761364959.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:39.053Z,1761364959.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 132.098984 m,
      bearing: 333.290344 deg,
      approach rate: -0.637749 m/s,
      LOS rate: 0.025272 deg/s,
      cmd heading: 333.763122 deg,
      new cmd heading: 333.790699 deg.

2025-10-25T04:02:39.054Z,1761364959.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825747 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:39.255Z,1761364959.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787327
2025-10-25T04:02:39.433Z,1761364959.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902259,0.428028,-0.052152],[-0.430900,0.899491,-0.072400],[0.015921,0.087796,0.996011]]
2025-10-25T04:02:39.474Z,1761364959.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:39.509Z,1761364959.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040348
2025-10-25T04:02:39.516Z,1761364959.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 131.845764 m,
      bearing: 333.300736 deg,
      approach rate: -0.600251 m/s,
      LOS rate: 0.024683 deg/s,
      cmd heading: 333.790689 deg,
      new cmd heading: 333.821926 deg.

2025-10-25T04:02:39.524Z,1761364959.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826292 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:39.758Z,1761364959.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290550
2025-10-25T04:02:39.936Z,1761364959.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901396,0.429769,-0.052767],[-0.432698,0.898585,-0.072918],[0.016078,0.088560,0.995941]]
2025-10-25T04:02:40.005Z,1761364960.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:40.008Z,1761364960.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 131.522339 m,
      bearing: 333.314875 deg,
      approach rate: -0.606764 m/s,
      LOS rate: 0.026590 deg/s,
      cmd heading: 333.821917 deg,
      new cmd heading: 333.864436 deg.

2025-10-25T04:02:40.014Z,1761364960.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546279
2025-10-25T04:02:40.017Z,1761364960.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827034 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:40.262Z,1761364960.262 [DAT](INFO): DAT read: Rx Time:04:02:39.1545

2025-10-25T04:02:40.264Z,1761364960.264 [DAT](INFO): Rx dataTimestamp_ set to:1761364960.262868
2025-10-25T04:02:40.264Z,1761364960.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796613
2025-10-25T04:02:40.401Z,1761364960.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900203,0.432255,-0.052832],[-0.435167,0.897464,-0.072030],[0.016279,0.087832,0.996002]]
2025-10-25T04:02:40.426Z,1761364960.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.67 m.
2025-10-25T04:02:40.429Z,1761364960.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.667572 m,
      nav range: 131.246994 m,
      bearing: 333.327300 deg,
      approach rate: -0.654599 m/s,
      LOS rate: 0.029602 deg/s,
      cmd heading: 333.864428 deg,
      new cmd heading: 333.901783 deg.

2025-10-25T04:02:40.431Z,1761364960.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827685 target range: 134.667572 and range: 135.30 m.
2025-10-25T04:02:40.520Z,1761364960.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051592
2025-10-25T04:02:40.778Z,1761364960.778 [DAT](INFO): DAT read: 04:02:39.1545 LVL= 24640, 27505, 22226, 32755, AGC= 58, IDX= 403, 0.15,-2.226, 2.787,-2.224,-2.594, PHS= 0.456,-0.855, 0.367, RAW= 146.5,   0.5, CAL= 150.0,  -8.4, ROT= 360.0,   8.4

2025-10-25T04:02:40.780Z,1761364960.780 [DAT](INFO): got valid direction response:
 04:02:39.1545 LVL= 24640, 27505, 22226, 32755, AGC= 58, IDX= 403, 0.15,-2.226, 2.787,-2.224,-2.594, PHS= 0.456,-0.855, 0.367, RAW= 146.5,   0.5, CAL= 150.0,  -8.4, ROT= 360.0,   8.4

2025-10-25T04:02:40.783Z,1761364960.783 [DAT](INFO): DAT read: Bearing 360.0,   8.4 (Local)

2025-10-25T04:02:40.784Z,1761364960.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,   8.4 (Local)

2025-10-25T04:02:40.787Z,1761364960.787 [DAT](INFO): DAT read: Range 10 to 50 : 132.9 m  (Round-trip  177.2 ms) speed  0.7 m/s

2025-10-25T04:02:40.789Z,1761364960.789 [DAT](INFO): DAT read: user:293>

2025-10-25T04:02:40.791Z,1761364960.791 [DAT](INFO): DAT read: Tx time:04:02:40.2732

2025-10-25T04:02:40.791Z,1761364960.791 [DAT](INFO): Ping request sent.
2025-10-25T04:02:40.791Z,1761364960.791 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:40.792Z,1761364960.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:40.807Z,1761364960.807 [DAT](INFO): direction in FSK: [0.989272,0.000000,-0.146083]
2025-10-25T04:02:40.807Z,1761364960.807 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:40.808Z,1761364960.808 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:40.819Z,1761364960.819 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:40.819Z,1761364960.819 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:40.867Z,1761364960.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899040,0.434589,-0.053479],[-0.437568,0.896213,-0.073056],[0.016179,0.089081,0.995893]]
2025-10-25T04:02:41.010Z,1761364961.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.899994 m,
      deltaT: 3.783919 s,
      deltaX: -2.400009 m,
      approachRate: -0.634265 m/s,
      rangeRepo size: 4

2025-10-25T04:02:41.017Z,1761364961.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.275970 m,
      bearing: 334.799596 deg,
      lat: 36.779441 deg,
      lon: -121.859759 deg,
      deltaT: 3.783919 s,
      deltaX: -2.391602 m,
      approachRate: -0.632044 m/s,
      posRepo size: 4

2025-10-25T04:02:41.017Z,1761364961.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:41.020Z,1761364961.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 130.343719 m,
      bearing: 333.839404 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029602 deg/s,
      cmd heading: 333.901775 deg,
      new cmd heading: 333.953609 deg.

2025-10-25T04:02:41.022Z,1761364961.022 [DAT](INFO): DAT read: TxSync time:04:02:40.2724

2025-10-25T04:02:41.025Z,1761364961.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828590 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:41.317Z,1761364961.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898237,0.436016,-0.055323],[-0.439165,0.895388,-0.073579],[0.017454,0.090388,0.995754]]
2025-10-25T04:02:41.355Z,1761364961.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:41.361Z,1761364961.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:41.370Z,1761364961.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 130.136276 m,
      bearing: 333.846143 deg,
      approach rate: -0.589381 m/s,
      LOS rate: 0.019179 deg/s,
      cmd heading: 333.953603 deg,
      new cmd heading: 333.973853 deg.

2025-10-25T04:02:41.371Z,1761364961.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828943 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:41.528Z,1761364961.528 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:41.529Z,1761364961.529 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:41.530Z,1761364961.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:41.715Z,1761364961.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898716,0.435399,-0.052326],[-0.438160,0.896450,-0.066284],[0.018047,0.082498,0.996428]]
2025-10-25T04:02:41.776Z,1761364961.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:41.778Z,1761364961.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986378
2025-10-25T04:02:41.781Z,1761364961.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 129.890900 m,
      bearing: 333.847237 deg,
      approach rate: -0.591895 m/s,
      LOS rate: 0.002645 deg/s,
      cmd heading: 333.973847 deg,
      new cmd heading: 333.977137 deg.

2025-10-25T04:02:41.782Z,1761364961.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829000 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:42.031Z,1761364962.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238881
2025-10-25T04:02:42.117Z,1761364962.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898594,0.435350,-0.054756],[-0.438382,0.896078,-0.069755],[0.018698,0.086686,0.996060]]
2025-10-25T04:02:42.153Z,1761364962.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:42.156Z,1761364962.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 129.690781 m,
      bearing: 333.848173 deg,
      approach rate: -0.530261 m/s,
      LOS rate: 0.002483 deg/s,
      cmd heading: 333.977126 deg,
      new cmd heading: 333.979937 deg.

2025-10-25T04:02:42.161Z,1761364962.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829050 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:42.282Z,1761364962.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490443
2025-10-25T04:02:42.537Z,1761364962.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744541
2025-10-25T04:02:42.593Z,1761364962.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899769,0.432716,-0.056318],[-0.435973,0.896918,-0.073933],[0.018521,0.091076,0.995672]]
2025-10-25T04:02:42.642Z,1761364962.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:42.647Z,1761364962.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 129.424561 m,
      bearing: 333.838128 deg,
      approach rate: -0.544710 m/s,
      LOS rate: -0.020596 deg/s,
      cmd heading: 333.979940 deg,
      new cmd heading: 333.949742 deg.

2025-10-25T04:02:42.648Z,1761364962.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828523 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:42.786Z,1761364962.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994502
2025-10-25T04:02:42.966Z,1761364962.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900917,0.430087,-0.058093],[-0.433606,0.897663,-0.078659],[0.018317,0.096055,0.995207]]
2025-10-25T04:02:42.986Z,1761364962.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:42.989Z,1761364962.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 129.244736 m,
      bearing: 333.831134 deg,
      approach rate: -0.522789 m/s,
      LOS rate: -0.020361 deg/s,
      cmd heading: 333.949750 deg,
      new cmd heading: 333.928740 deg.

2025-10-25T04:02:42.990Z,1761364962.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828156 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:43.039Z,1761364963.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246828
2025-10-25T04:02:43.290Z,1761364963.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498693
2025-10-25T04:02:43.370Z,1761364963.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901894,0.428001,-0.058328],[-0.431596,0.898404,-0.081205],[0.017647,0.098412,0.994989]]
2025-10-25T04:02:43.395Z,1761364963.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:43.399Z,1761364963.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:43.402Z,1761364963.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 129.027725 m,
      bearing: 333.822465 deg,
      approach rate: -0.525316 m/s,
      LOS rate: -0.021020 deg/s,
      cmd heading: 333.928741 deg,
      new cmd heading: 333.902691 deg.

2025-10-25T04:02:43.403Z,1761364963.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827702 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:43.545Z,1761364963.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752642
2025-10-25T04:02:43.794Z,1761364963.794 [DAT](INFO): DAT read: Rx Time:04:02:42.8517

2025-10-25T04:02:43.794Z,1761364963.794 [DAT](INFO): Rx dataTimestamp_ set to:1761364963.793842
2025-10-25T04:02:43.795Z,1761364963.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003153
2025-10-25T04:02:43.846Z,1761364963.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:43.866Z,1761364963.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 128.812607 m,
      bearing: 333.804641 deg,
      approach rate: -0.482873 m/s,
      LOS rate: -0.040077 deg/s,
      cmd heading: 333.902704 deg,
      new cmd heading: 333.849141 deg.

2025-10-25T04:02:43.867Z,1761364963.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826766 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:44.046Z,1761364964.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254403
2025-10-25T04:02:44.165Z,1761364964.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902831,0.426219,-0.056870],[-0.429646,0.899507,-0.079321],[0.017346,0.096048,0.995226]]
2025-10-25T04:02:44.189Z,1761364964.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.28 m.
2025-10-25T04:02:44.192Z,1761364964.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.275970 m,
      nav range: 128.643311 m,
      bearing: 333.790389 deg,
      approach rate: -0.491416 m/s,
      LOS rate: -0.041423 deg/s,
      cmd heading: 333.849128 deg,
      new cmd heading: 333.806316 deg.

2025-10-25T04:02:44.193Z,1761364964.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826019 target range: 132.275970 and range: 132.90 m.
2025-10-25T04:02:44.301Z,1761364964.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508605
2025-10-25T04:02:44.611Z,1761364964.611 [DAT](INFO): DAT read: 04:02:42.8517 LVL= 18608, 27377, 16850, 27043, AGC= 65, IDX= 406, 0.10, 2.219, 0.898, 2.225, 1.822, PHS= 0.485,-0.877, 0.400, RAW= 146.8,  -0.1, CAL= 150.5,  -9.1, ROT= 359.5,   9.1

2025-10-25T04:02:44.617Z,1761364964.617 [DAT](INFO): got valid direction response:
 04:02:42.8517 LVL= 18608, 27377, 16850, 27043, AGC= 65, IDX= 406, 0.10, 2.219, 0.898, 2.225, 1.822, PHS= 0.485,-0.877, 0.400, RAW= 146.8,  -0.1, CAL= 150.5,  -9.1, ROT= 359.5,   9.1

2025-10-25T04:02:44.618Z,1761364964.618 [DAT](INFO): DAT read: Bearing 359.5,   9.1 (Local)

2025-10-25T04:02:44.619Z,1761364964.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,   9.1 (Local)

2025-10-25T04:02:44.625Z,1761364964.625 [DAT](INFO): DAT read: Range 10 to 50 : 130.8 m  (Round-trip  174.4 ms) speed  0.6 m/s

2025-10-25T04:02:44.626Z,1761364964.626 [DAT](INFO): DAT read: user:294>

2025-10-25T04:02:44.626Z,1761364964.626 [DAT](INFO): DAT read: Tx time:04:02:43.9732

2025-10-25T04:02:44.627Z,1761364964.627 [DAT](INFO): Ping request sent.
2025-10-25T04:02:44.627Z,1761364964.627 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:44.627Z,1761364964.627 [DAT](INFO): DAT read: TxSync time:04:02:43.9724

2025-10-25T04:02:44.628Z,1761364964.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:44.633Z,1761364964.633 [DAT](INFO): direction in FSK: [0.987376,-0.008616,-0.158158]
2025-10-25T04:02:44.633Z,1761364964.633 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:44.634Z,1761364964.634 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:44.632Z,1761364964.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903071,0.425827,-0.055973],[-0.429135,0.899931,-0.077256],[0.017474,0.093787,0.995439]]
2025-10-25T04:02:44.677Z,1761364964.677 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:44.677Z,1761364964.677 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:44.788Z,1761364964.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.800003 m,
      deltaT: 3.781559 s,
      deltaX: -2.099991 m,
      approachRate: -0.555324 m/s,
      rangeRepo size: 4

2025-10-25T04:02:44.791Z,1761364964.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.186768 m,
      bearing: 334.945299 deg,
      lat: 36.779441 deg,
      lon: -121.859759 deg,
      deltaT: 3.781559 s,
      deltaX: -2.089203 m,
      approachRate: -0.552471 m/s,
      posRepo size: 4

2025-10-25T04:02:44.791Z,1761364964.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:44.798Z,1761364964.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 128.375153 m,
      bearing: 333.759392 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041423 deg/s,
      cmd heading: 333.806317 deg,
      new cmd heading: 333.732439 deg.

2025-10-25T04:02:44.799Z,1761364964.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824730 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:45.068Z,1761364965.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903001,0.425977,-0.055974],[-0.429245,0.900063,-0.075073],[0.018401,0.091818,0.995606]]
2025-10-25T04:02:45.089Z,1761364965.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:45.092Z,1761364965.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 128.215134 m,
      bearing: 333.740831 deg,
      approach rate: -0.523716 m/s,
      LOS rate: -0.060822 deg/s,
      cmd heading: 333.732441 deg,
      new cmd heading: 333.676690 deg.

2025-10-25T04:02:45.093Z,1761364965.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823757 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:45.474Z,1761364965.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901848,0.427785,-0.060586],[-0.431594,0.898458,-0.080628],[0.019942,0.098863,0.994901]]
2025-10-25T04:02:45.522Z,1761364965.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:45.524Z,1761364965.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:45.531Z,1761364965.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 128.009659 m,
      bearing: 333.717220 deg,
      approach rate: -0.472316 m/s,
      LOS rate: -0.054362 deg/s,
      cmd heading: 333.676680 deg,
      new cmd heading: 333.605731 deg.

2025-10-25T04:02:45.533Z,1761364965.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822518 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:45.560Z,1761364965.560 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:45.560Z,1761364965.560 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:45.561Z,1761364965.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:45.812Z,1761364965.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185383
2025-10-25T04:02:45.868Z,1761364965.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900343,0.431046,-0.059851],[-0.434724,0.897155,-0.078286],[0.019951,0.096503,0.995133]]
2025-10-25T04:02:45.927Z,1761364965.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:45.932Z,1761364965.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 127.815926 m,
      bearing: 333.695653 deg,
      approach rate: -0.481139 m/s,
      LOS rate: -0.053642 deg/s,
      cmd heading: 333.605728 deg,
      new cmd heading: 333.540930 deg.

2025-10-25T04:02:45.935Z,1761364965.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821387 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:46.062Z,1761364966.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.434700
2025-10-25T04:02:46.314Z,1761364966.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687120
2025-10-25T04:02:46.330Z,1761364966.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:46.334Z,1761364966.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 127.620499 m,
      bearing: 333.673829 deg,
      approach rate: -0.486701 m/s,
      LOS rate: -0.054436 deg/s,
      cmd heading: 333.540923 deg,
      new cmd heading: 333.475349 deg.

2025-10-25T04:02:46.335Z,1761364966.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820243 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:46.568Z,1761364966.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940711
2025-10-25T04:02:46.736Z,1761364966.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:46.739Z,1761364966.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 127.419128 m,
      bearing: 333.658274 deg,
      approach rate: -0.493812 m/s,
      LOS rate: -0.038205 deg/s,
      cmd heading: 333.475353 deg,
      new cmd heading: 333.428614 deg.

2025-10-25T04:02:46.740Z,1761364966.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819427 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:46.822Z,1761364966.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194946
2025-10-25T04:02:47.073Z,1761364967.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446589
2025-10-25T04:02:47.078Z,1761364967.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900318,0.431866,-0.054019],[-0.434901,0.897514,-0.072999],[0.016957,0.089215,0.995868]]
2025-10-25T04:02:47.120Z,1761364967.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:47.126Z,1761364967.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 127.233757 m,
      bearing: 333.643942 deg,
      approach rate: -0.492288 m/s,
      LOS rate: -0.038117 deg/s,
      cmd heading: 333.428607 deg,
      new cmd heading: 333.385548 deg.

2025-10-25T04:02:47.127Z,1761364967.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818676 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:47.326Z,1761364967.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698761
2025-10-25T04:02:47.481Z,1761364967.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900291,0.431926,-0.054002],[-0.434969,0.897434,-0.073580],[0.016682,0.089733,0.995826]]
2025-10-25T04:02:47.524Z,1761364967.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:47.532Z,1761364967.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 127.043213 m,
      bearing: 333.629171 deg,
      approach rate: -0.463537 m/s,
      LOS rate: -0.035987 deg/s,
      cmd heading: 333.385550 deg,
      new cmd heading: 333.341171 deg.

2025-10-25T04:02:47.541Z,1761364967.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817901 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:47.582Z,1761364967.582 [DAT](INFO): DAT read: Rx Time:04:02:46.5498

2025-10-25T04:02:47.583Z,1761364967.583 [DAT](INFO): Rx dataTimestamp_ set to:1761364967.582314
2025-10-25T04:02:47.586Z,1761364967.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957542
2025-10-25T04:02:47.831Z,1761364967.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203730
2025-10-25T04:02:47.910Z,1761364967.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899916,0.432772,-0.053476],[-0.435760,0.897079,-0.073230],[0.016280,0.089203,0.995880]]
2025-10-25T04:02:47.966Z,1761364967.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:47.983Z,1761364967.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.19 m.
2025-10-25T04:02:48.005Z,1761364968.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.186768 m,
      nav range: 126.800568 m,
      bearing: 333.619869 deg,
      approach rate: -0.529904 m/s,
      LOS rate: -0.020353 deg/s,
      cmd heading: 333.341181 deg,
      new cmd heading: 333.313221 deg.

2025-10-25T04:02:48.013Z,1761364968.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817413 target range: 130.186768 and range: 130.80 m.
2025-10-25T04:02:48.092Z,1761364968.092 [DAT](INFO): DAT read: 04:02:46.5498 LVL= 18192, 24881, 16658, 26355, AGC= 60, IDX= 417,-0.48,-2.243, 2.729,-2.216,-2.609, PHS= 0.454,-0.898, 0.390, RAW= 147.6,   0.8, CAL= 150.9,  -8.1, ROT= 359.1,   8.1

2025-10-25T04:02:48.094Z,1761364968.094 [DAT](INFO): got valid direction response:
 04:02:46.5498 LVL= 18192, 24881, 16658, 26355, AGC= 60, IDX= 417,-0.48,-2.243, 2.729,-2.216,-2.609, PHS= 0.454,-0.898, 0.390, RAW= 147.6,   0.8, CAL= 150.9,  -8.1, ROT= 359.1,   8.1

2025-10-25T04:02:48.095Z,1761364968.095 [DAT](INFO): DAT read: Bearing 359.1,   8.1 (Local)

2025-10-25T04:02:48.096Z,1761364968.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   8.1 (Local)

2025-10-25T04:02:48.115Z,1761364968.115 [DAT](INFO): DAT read: Range 10 to 50 : 129.2 m  (Round-trip  172.3 ms) speed  0.7 m/s

2025-10-25T04:02:48.116Z,1761364968.116 [DAT](INFO): DAT read: user:295>

2025-10-25T04:02:48.117Z,1761364968.117 [DAT](INFO): DAT read: Tx time:04:02:47.6733

2025-10-25T04:02:48.118Z,1761364968.118 [DAT](INFO): Ping request sent.
2025-10-25T04:02:48.118Z,1761364968.118 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:48.118Z,1761364968.118 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:48.120Z,1761364968.120 [DAT](INFO): direction in FSK: [0.989902,-0.015550,-0.140901]
2025-10-25T04:02:48.120Z,1761364968.120 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:48.130Z,1761364968.130 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:48.141Z,1761364968.141 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:48.142Z,1761364968.142 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:48.324Z,1761364968.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898486,0.435778,-0.053108],[-0.438685,0.895844,-0.070846],[0.016704,0.086952,0.996072]]
2025-10-25T04:02:48.334Z,1761364968.334 [DAT](INFO): DAT read: TxSync time:04:02:47.6725

2025-10-25T04:02:48.389Z,1761364968.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.199997 m,
      deltaT: 3.531173 s,
      deltaX: -1.600006 m,
      approachRate: -0.453109 m/s,
      rangeRepo size: 4

2025-10-25T04:02:48.391Z,1761364968.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.591095 m,
      bearing: 333.789106 deg,
      lat: 36.779451 deg,
      lon: -121.859760 deg,
      deltaT: 3.531173 s,
      deltaX: -1.595673 m,
      approachRate: -0.451882 m/s,
      posRepo size: 4

2025-10-25T04:02:48.392Z,1761364968.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:48.399Z,1761364968.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 127.579674 m,
      bearing: 333.789449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020353 deg/s,
      cmd heading: 333.313231 deg,
      new cmd heading: 333.289146 deg.

2025-10-25T04:02:48.400Z,1761364968.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816993 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:48.704Z,1761364968.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897373,0.438496,-0.049425],[-0.440891,0.895613,-0.059102],[0.018349,0.074828,0.997028]]
2025-10-25T04:02:48.756Z,1761364968.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:48.759Z,1761364968.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 127.351959 m,
      bearing: 333.792432 deg,
      approach rate: -0.599702 m/s,
      LOS rate: 0.007872 deg/s,
      cmd heading: 333.289135 deg,
      new cmd heading: 333.298101 deg.

2025-10-25T04:02:48.760Z,1761364968.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817149 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:49.112Z,1761364969.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897164,0.438721,-0.051188],[-0.441285,0.895294,-0.060957],[0.019085,0.077277,0.996827]]
2025-10-25T04:02:49.134Z,1761364969.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:49.137Z,1761364969.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 127.134079 m,
      bearing: 333.795325 deg,
      approach rate: -0.576430 m/s,
      LOS rate: 0.007666 deg/s,
      cmd heading: 333.298096 deg,
      new cmd heading: 333.306789 deg.

2025-10-25T04:02:49.138Z,1761364969.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817301 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:49.512Z,1761364969.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896924,0.438917,-0.053664],[-0.441722,0.894916,-0.063301],[0.020240,0.080481,0.996551]]
2025-10-25T04:02:49.552Z,1761364969.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:49.559Z,1761364969.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 126.902145 m,
      bearing: 333.798446 deg,
      approach rate: -0.554771 m/s,
      LOS rate: 0.007477 deg/s,
      cmd heading: 333.306784 deg,
      new cmd heading: 333.316162 deg.

2025-10-25T04:02:49.560Z,1761364969.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817464 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:49.915Z,1761364969.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897269,0.438073,-0.054777],[-0.441016,0.895107,-0.065489],[0.020342,0.082919,0.996349]]
2025-10-25T04:02:49.000Z,1761364970.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:50.008Z,1761364970.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:50.019Z,1761364970.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 126.626640 m,
      bearing: 333.813528 deg,
      approach rate: -0.605042 m/s,
      LOS rate: 0.033195 deg/s,
      cmd heading: 333.316155 deg,
      new cmd heading: 333.361501 deg.

2025-10-25T04:02:50.019Z,1761364970.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818256 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:50.097Z,1761364970.097 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:50.098Z,1761364970.098 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:50.098Z,1761364970.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:50.333Z,1761364970.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896625,0.439205,-0.056230],[-0.442305,0.894336,-0.067304],[0.020728,0.085218,0.996147]]
2025-10-25T04:02:50.350Z,1761364970.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231761
2025-10-25T04:02:50.375Z,1761364970.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:50.378Z,1761364970.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 126.396988 m,
      bearing: 333.826287 deg,
      approach rate: -0.625156 m/s,
      LOS rate: 0.034796 deg/s,
      cmd heading: 333.361507 deg,
      new cmd heading: 333.399855 deg.

2025-10-25T04:02:50.379Z,1761364970.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818925 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:50.602Z,1761364970.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483778
2025-10-25T04:02:50.801Z,1761364970.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:50.804Z,1761364970.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 126.130981 m,
      bearing: 333.844458 deg,
      approach rate: -0.624327 m/s,
      LOS rate: 0.042738 deg/s,
      cmd heading: 333.399866 deg,
      new cmd heading: 333.454494 deg.

2025-10-25T04:02:50.805Z,1761364970.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819879 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:50.855Z,1761364970.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737241
2025-10-25T04:02:51.106Z,1761364971.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988148
2025-10-25T04:02:51.142Z,1761364971.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894425,0.443294,-0.059118],[-0.446697,0.891925,-0.070228],[0.021597,0.089221,0.995778]]
2025-10-25T04:02:51.178Z,1761364971.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:51.182Z,1761364971.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 125.905487 m,
      bearing: 333.860421 deg,
      approach rate: -0.626398 m/s,
      LOS rate: 0.044422 deg/s,
      cmd heading: 333.454507 deg,
      new cmd heading: 333.502481 deg.

2025-10-25T04:02:51.182Z,1761364971.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820716 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:51.358Z,1761364971.358 [DAT](INFO): DAT read: Rx Time:04:02:50.2466

2025-10-25T04:02:51.358Z,1761364971.358 [DAT](INFO): Rx dataTimestamp_ set to:1761364971.357973
2025-10-25T04:02:51.359Z,1761364971.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240958
2025-10-25T04:02:51.579Z,1761364971.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.59 m.
2025-10-25T04:02:51.583Z,1761364971.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.591095 m,
      nav range: 125.644501 m,
      bearing: 333.878968 deg,
      approach rate: -0.624717 m/s,
      LOS rate: 0.044488 deg/s,
      cmd heading: 333.502482 deg,
      new cmd heading: 333.558239 deg.

2025-10-25T04:02:51.584Z,1761364971.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821690 target range: 128.591095 and range: 129.20 m.
2025-10-25T04:02:51.610Z,1761364971.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491720
2025-10-25T04:02:51.869Z,1761364971.869 [DAT](INFO): DAT read: 04:02:50.2466 LVL= 25328, 25953, 21218, 31907, AGC= 65, IDX= 417,-0.27,-1.297,-2.660,-1.342,-1.724, PHS= 0.515,-0.888, 0.379, RAW= 145.0,  -0.1, CAL= 148.8,  -9.1, ROT=   1.2,   9.1

2025-10-25T04:02:51.870Z,1761364971.870 [DAT](INFO): got valid direction response:
 04:02:50.2466 LVL= 25328, 25953, 21218, 31907, AGC= 65, IDX= 417,-0.27,-1.297,-2.660,-1.342,-1.724, PHS= 0.515,-0.888, 0.379, RAW= 145.0,  -0.1, CAL= 148.8,  -9.1, ROT=   1.2,   9.1

2025-10-25T04:02:51.871Z,1761364971.871 [DAT](INFO): DAT read: Bearing   1.2,   9.1 (Local)

2025-10-25T04:02:51.871Z,1761364971.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   9.1 (Local)

2025-10-25T04:02:51.873Z,1761364971.873 [DAT](INFO): DAT read: Range 10 to 50 : 126.9 m  (Round-trip  169.2 ms) speed  0.4 m/s

2025-10-25T04:02:51.874Z,1761364971.874 [DAT](INFO): DAT read: user:296>

2025-10-25T04:02:51.874Z,1761364971.874 [DAT](INFO): DAT read: Tx time:04:02:51.3233

2025-10-25T04:02:51.875Z,1761364971.875 [DAT](INFO): Ping request sent.
2025-10-25T04:02:51.875Z,1761364971.875 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:51.875Z,1761364971.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:51.876Z,1761364971.876 [DAT](INFO): direction in FSK: [0.987197,0.020679,-0.158158]
2025-10-25T04:02:51.876Z,1761364971.876 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:51.894Z,1761364971.894 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:51.899Z,1761364971.899 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:51.899Z,1761364971.899 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:51.945Z,1761364971.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892587,0.446606,-0.061897],[-0.450299,0.889941,-0.072356],[0.022770,0.092456,0.995456]]
2025-10-25T04:02:52.050Z,1761364972.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.900002 m,
      deltaT: 3.779404 s,
      deltaX: -2.299995 m,
      approachRate: -0.608560 m/s,
      rangeRepo size: 4

2025-10-25T04:02:52.052Z,1761364972.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.301224 m,
      bearing: 335.265929 deg,
      lat: 36.779456 deg,
      lon: -121.859741 deg,
      deltaT: 3.779404 s,
      deltaX: -2.289871 m,
      approachRate: -0.605882 m/s,
      posRepo size: 4

2025-10-25T04:02:52.057Z,1761364972.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:52.059Z,1761364972.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 125.116386 m,
      bearing: 334.710401 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044488 deg/s,
      cmd heading: 333.558244 deg,
      new cmd heading: 333.620351 deg.

2025-10-25T04:02:52.060Z,1761364972.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822773 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:52.115Z,1761364972.115 [DAT](INFO): DAT read: TxSync time:04:02:51.3225

2025-10-25T04:02:52.356Z,1761364972.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891593,0.448305,-0.063908],[-0.452192,0.888941,-0.072849],[0.024152,0.093850,0.995293]]
2025-10-25T04:02:52.406Z,1761364972.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:52.408Z,1761364972.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:52.415Z,1761364972.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 124.878914 m,
      bearing: 334.728550 deg,
      approach rate: -0.652286 m/s,
      LOS rate: 0.049947 deg/s,
      cmd heading: 333.620344 deg,
      new cmd heading: 333.674896 deg.

2025-10-25T04:02:52.416Z,1761364972.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823726 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:52.617Z,1761364972.617 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:52.617Z,1761364972.617 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:52.618Z,1761364972.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:52.755Z,1761364972.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891149,0.448956,-0.065516],[-0.453018,0.888444,-0.073776],[0.025085,0.095425,0.995121]]
2025-10-25T04:02:52.807Z,1761364972.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:52.810Z,1761364972.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 124.635414 m,
      bearing: 334.742890 deg,
      approach rate: -0.609450 m/s,
      LOS rate: 0.035961 deg/s,
      cmd heading: 333.674904 deg,
      new cmd heading: 333.718008 deg.

2025-10-25T04:02:52.811Z,1761364972.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824478 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:52.871Z,1761364972.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995669
2025-10-25T04:02:53.122Z,1761364973.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246799
2025-10-25T04:02:53.193Z,1761364973.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:53.197Z,1761364973.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 124.407227 m,
      bearing: 334.756380 deg,
      approach rate: -0.591362 m/s,
      LOS rate: 0.035023 deg/s,
      cmd heading: 333.718016 deg,
      new cmd heading: 333.758559 deg.

2025-10-25T04:02:53.198Z,1761364973.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825186 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:53.374Z,1761364973.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498878
2025-10-25T04:02:53.567Z,1761364973.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891666,0.447657,-0.067348],[-0.451997,0.888638,-0.077593],[0.025112,0.099628,0.994708]]
2025-10-25T04:02:53.604Z,1761364973.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:53.611Z,1761364973.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 124.175041 m,
      bearing: 334.770041 deg,
      approach rate: -0.565638 m/s,
      LOS rate: 0.033343 deg/s,
      cmd heading: 333.758560 deg,
      new cmd heading: 333.799621 deg.

2025-10-25T04:02:53.612Z,1761364973.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825902 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:53.626Z,1761364973.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750821
2025-10-25T04:02:53.878Z,1761364973.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002962
2025-10-25T04:02:53.985Z,1761364973.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892376,0.446208,-0.067550],[-0.450633,0.889122,-0.079948],[0.024387,0.101784,0.994508]]
2025-10-25T04:02:54.041Z,1761364974.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:54.044Z,1761364974.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 123.925972 m,
      bearing: 334.774807 deg,
      approach rate: -0.569142 m/s,
      LOS rate: 0.010911 deg/s,
      cmd heading: 333.799623 deg,
      new cmd heading: 333.813948 deg.

2025-10-25T04:02:54.045Z,1761364974.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826152 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:54.130Z,1761364974.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255598
2025-10-25T04:02:54.382Z,1761364974.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506926
2025-10-25T04:02:54.391Z,1761364974.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892674,0.445675,-0.067129],[-0.450074,0.889346,-0.080608],[0.023777,0.102170,0.994483]]
2025-10-25T04:02:54.429Z,1761364974.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:54.431Z,1761364974.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:54.438Z,1761364974.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 123.723976 m,
      bearing: 334.778628 deg,
      approach rate: -0.518000 m/s,
      LOS rate: 0.009815 deg/s,
      cmd heading: 333.813939 deg,
      new cmd heading: 333.825421 deg.

2025-10-25T04:02:54.439Z,1761364974.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826353 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:54.637Z,1761364974.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761946
2025-10-25T04:02:54.810Z,1761364974.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893131,0.444776,-0.067012],[-0.449198,0.889670,-0.081907],[0.023188,0.103256,0.994385]]
2025-10-25T04:02:54.886Z,1761364974.886 [DAT](INFO): DAT read: Rx Time:04:02:53.8936

2025-10-25T04:02:54.886Z,1761364974.886 [DAT](INFO): Rx dataTimestamp_ set to:1761364974.885900
2025-10-25T04:02:54.887Z,1761364974.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012045
2025-10-25T04:02:54.899Z,1761364974.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:54.926Z,1761364974.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 123.478996 m,
      bearing: 334.770569 deg,
      approach rate: -0.524314 m/s,
      LOS rate: -0.017282 deg/s,
      cmd heading: 333.825414 deg,
      new cmd heading: 333.801190 deg.

2025-10-25T04:02:54.927Z,1761364974.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825930 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:55.138Z,1761364975.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262877
2025-10-25T04:02:55.219Z,1761364975.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893704,0.443667,-0.066732],[-0.448091,0.890118,-0.083094],[0.022533,0.104163,0.994305]]
2025-10-25T04:02:55.252Z,1761364975.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.30 m.
2025-10-25T04:02:55.255Z,1761364975.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.301224 m,
      nav range: 123.294899 m,
      bearing: 334.764391 deg,
      approach rate: -0.520942 m/s,
      LOS rate: -0.017508 deg/s,
      cmd heading: 333.801180 deg,
      new cmd heading: 333.782619 deg.

2025-10-25T04:02:55.256Z,1761364975.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825606 target range: 126.301224 and range: 126.90 m.
2025-10-25T04:02:55.397Z,1761364975.397 [DAT](INFO): DAT read: 04:02:53.8936 LVL= 21712, 28849, 19170, 28643, AGC= 64, IDX= 418,-0.35, 0.524,-0.838, 0.496, 0.152, PHS= 0.460,-0.943, 0.341, RAW= 145.6,   2.1, CAL= 148.9,  -6.7, ROT=   1.1,   6.7

2025-10-25T04:02:55.398Z,1761364975.398 [DAT](INFO): got valid direction response:
 04:02:53.8936 LVL= 21712, 28849, 19170, 28643, AGC= 64, IDX= 418,-0.35, 0.524,-0.838, 0.496, 0.152, PHS= 0.460,-0.943, 0.341, RAW= 145.6,   2.1, CAL= 148.9,  -6.7, ROT=   1.1,   6.7

2025-10-25T04:02:55.399Z,1761364975.399 [DAT](INFO): DAT read: Bearing   1.1,   6.7 (Local)

2025-10-25T04:02:55.399Z,1761364975.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,   6.7 (Local)

2025-10-25T04:02:55.401Z,1761364975.401 [DAT](INFO): DAT read: Range 10 to 50 : 124.6 m  (Round-trip  166.2 ms) speed  0.4 m/s

2025-10-25T04:02:55.402Z,1761364975.402 [DAT](INFO): DAT read: user:297>

2025-10-25T04:02:55.403Z,1761364975.403 [DAT](INFO): DAT read: Tx time:04:02:54.9733

2025-10-25T04:02:55.404Z,1761364975.404 [DAT](INFO): Ping request sent.
2025-10-25T04:02:55.414Z,1761364975.414 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:55.414Z,1761364975.414 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:55.415Z,1761364975.415 [DAT](INFO): direction in FSK: [0.992988,0.019066,-0.116671]
2025-10-25T04:02:55.415Z,1761364975.415 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:55.416Z,1761364975.416 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:55.423Z,1761364975.423 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:55.423Z,1761364975.423 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:55.642Z,1761364975.642 [DAT](INFO): DAT read: TxSync time:04:02:54.9725

2025-10-25T04:02:55.691Z,1761364975.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.599998 m,
      deltaT: 3.528345 s,
      deltaX: -2.300003 m,
      approachRate: -0.651865 m/s,
      rangeRepo size: 4

2025-10-25T04:02:55.700Z,1761364975.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.011978 m,
      bearing: 335.162209 deg,
      lat: 36.779456 deg,
      lon: -121.859734 deg,
      deltaT: 3.528345 s,
      deltaX: -2.289246 m,
      approachRate: -0.648816 m/s,
      posRepo size: 4

2025-10-25T04:02:55.707Z,1761364975.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:55.727Z,1761364975.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.912453 m,
      bearing: 335.007638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017508 deg/s,
      cmd heading: 333.782629 deg,
      new cmd heading: 333.759614 deg.

2025-10-25T04:02:55.740Z,1761364975.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825204 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:56.022Z,1761364976.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894041,0.442944,-0.067011],[-0.447419,0.890378,-0.083918],[0.022494,0.105008,0.994217]]
2025-10-25T04:02:56.095Z,1761364976.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:56.102Z,1761364976.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.719078 m,
      bearing: 334.990394 deg,
      approach rate: -0.478113 m/s,
      LOS rate: -0.042702 deg/s,
      cmd heading: 333.759625 deg,
      new cmd heading: 333.707812 deg.

2025-10-25T04:02:56.103Z,1761364976.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824300 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:56.435Z,1761364976.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893854,0.443611,-0.065072],[-0.447769,0.890666,-0.078846],[0.022980,0.099613,0.994761]]
2025-10-25T04:02:56.453Z,1761364976.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:56.455Z,1761364976.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:56.458Z,1761364976.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.542152 m,
      bearing: 334.974562 deg,
      approach rate: -0.490630 m/s,
      LOS rate: -0.043967 deg/s,
      cmd heading: 333.707825 deg,
      new cmd heading: 333.660261 deg.

2025-10-25T04:02:56.459Z,1761364976.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823470 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:56.649Z,1761364976.649 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:02:56.649Z,1761364976.649 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:02:56.650Z,1761364976.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:02:56.832Z,1761364976.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894801,0.441674,-0.065236],[-0.445831,0.891728,-0.077818],[0.023803,0.098716,0.994831]]
2025-10-25T04:02:56.899Z,1761364976.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:56.902Z,1761364976.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497635
2025-10-25T04:02:56.904Z,1761364976.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.357002 m,
      bearing: 334.951206 deg,
      approach rate: -0.419437 m/s,
      LOS rate: -0.052990 deg/s,
      cmd heading: 333.660260 deg,
      new cmd heading: 333.590087 deg.

2025-10-25T04:02:56.906Z,1761364976.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822246 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:57.154Z,1761364977.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749494
2025-10-25T04:02:57.252Z,1761364977.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896103,0.439259,-0.063652],[-0.443249,0.893086,-0.076992],[0.023027,0.097206,0.994998]]
2025-10-25T04:02:57.282Z,1761364977.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:57.286Z,1761364977.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.176338 m,
      bearing: 334.928077 deg,
      approach rate: -0.469827 m/s,
      LOS rate: -0.060238 deg/s,
      cmd heading: 333.590100 deg,
      new cmd heading: 333.520610 deg.

2025-10-25T04:02:57.288Z,1761364977.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821033 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:57.406Z,1761364977.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001989
2025-10-25T04:02:57.638Z,1761364977.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897141,0.437387,-0.061895],[-0.441178,0.894246,-0.075407],[0.022367,0.094958,0.995230]]
2025-10-25T04:02:57.658Z,1761364977.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253572
2025-10-25T04:02:57.673Z,1761364977.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:57.676Z,1761364977.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 122.008751 m,
      bearing: 334.906351 deg,
      approach rate: -0.427266 m/s,
      LOS rate: -0.055465 deg/s,
      cmd heading: 333.520623 deg,
      new cmd heading: 333.455357 deg.

2025-10-25T04:02:57.677Z,1761364977.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819894 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:57.910Z,1761364977.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505529
2025-10-25T04:02:58.039Z,1761364978.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897985,0.435862,-0.060386],[-0.439488,0.895183,-0.074149],[0.021738,0.093124,0.995417]]
2025-10-25T04:02:58.128Z,1761364978.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:58.135Z,1761364978.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 121.809677 m,
      bearing: 334.878578 deg,
      approach rate: -0.437873 m/s,
      LOS rate: -0.061189 deg/s,
      cmd heading: 333.455354 deg,
      new cmd heading: 333.371898 deg.

2025-10-25T04:02:58.136Z,1761364978.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818437 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:58.162Z,1761364978.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757610
2025-10-25T04:02:58.419Z,1761364978.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015368
2025-10-25T04:02:58.450Z,1761364978.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898401,0.435194,-0.059004],[-0.438653,0.895750,-0.072217],[0.021425,0.090762,0.995642]]
2025-10-25T04:02:58.468Z,1761364978.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:02:58.490Z,1761364978.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:58.498Z,1761364978.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 121.646538 m,
      bearing: 334.855663 deg,
      approach rate: -0.450236 m/s,
      LOS rate: -0.063325 deg/s,
      cmd heading: 333.371889 deg,
      new cmd heading: 333.303053 deg.

2025-10-25T04:02:58.499Z,1761364978.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817235 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:58.674Z,1761364978.674 [DAT](INFO): DAT read: Rx Time:04:02:57.5416

2025-10-25T04:02:58.674Z,1761364978.674 [DAT](INFO): Rx dataTimestamp_ set to:1761364978.673990
2025-10-25T04:02:58.675Z,1761364978.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270769
2025-10-25T04:02:58.844Z,1761364978.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898230,0.435815,-0.057001],[-0.439031,0.895795,-0.069303],[0.020858,0.087275,0.995966]]
2025-10-25T04:02:58.926Z,1761364978.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521515
2025-10-25T04:02:58.938Z,1761364978.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.01 m.
2025-10-25T04:02:58.944Z,1761364978.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.011978 m,
      nav range: 121.434296 m,
      bearing: 334.831614 deg,
      approach rate: -0.474511 m/s,
      LOS rate: -0.053862 deg/s,
      cmd heading: 333.303041 deg,
      new cmd heading: 333.230766 deg.

2025-10-25T04:02:58.947Z,1761364978.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815974 target range: 124.011978 and range: 124.60 m.
2025-10-25T04:02:59.187Z,1761364979.187 [DAT](INFO): DAT read: 04:02:57.5416 LVL= 19744, 27873, 18674, 28851, AGC= 68, IDX= 412, 0.06,-3.007, 1.902,-3.029, 2.884, PHS= 0.480,-0.935, 0.367, RAW= 145.9,   1.3, CAL= 149.3,  -7.6, ROT=   0.7,   7.6

2025-10-25T04:02:59.189Z,1761364979.189 [DAT](INFO): got valid direction response:
 04:02:57.5416 LVL= 19744, 27873, 18674, 28851, AGC= 68, IDX= 412, 0.06,-3.007, 1.902,-3.029, 2.884, PHS= 0.480,-0.935, 0.367, RAW= 145.9,   1.3, CAL= 149.3,  -7.6, ROT=   0.7,   7.6

2025-10-25T04:02:59.191Z,1761364979.191 [DAT](INFO): DAT read: Bearing   0.7,   7.6 (Local)

2025-10-25T04:02:59.191Z,1761364979.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   7.6 (Local)

2025-10-25T04:02:59.195Z,1761364979.195 [DAT](INFO): DAT read: Range 10 to 50 : 123.0 m  (Round-trip  164.0 ms) speed  0.3 m/s

2025-10-25T04:02:59.196Z,1761364979.196 [DAT](INFO): DAT read: user:298>

2025-10-25T04:02:59.198Z,1761364979.198 [DAT](INFO): DAT read: Tx time:04:02:58.6234

2025-10-25T04:02:59.199Z,1761364979.199 [DAT](INFO): Ping request sent.
2025-10-25T04:02:59.199Z,1761364979.199 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:02:59.225Z,1761364979.225 [DAT](INFO): DAT read: TxSync time:04:02:58.6226

2025-10-25T04:02:59.225Z,1761364979.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:02:59.226Z,1761364979.226 [DAT](INFO): direction in FSK: [0.991142,0.012110,-0.132256]
2025-10-25T04:02:59.227Z,1761364979.227 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:59.227Z,1761364979.227 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:59.239Z,1761364979.239 [DAT](INFO): publishing transmit ping time
2025-10-25T04:02:59.239Z,1761364979.239 [DAT](INFO): publishing direction and range info
2025-10-25T04:02:59.322Z,1761364979.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898344,0.435793,-0.055340],[-0.438838,0.895997,-0.067899],[0.019995,0.085282,0.996156]]
2025-10-25T04:02:59.389Z,1761364979.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.787575 s,
      deltaX: -1.599998 m,
      approachRate: -0.422433 m/s,
      rangeRepo size: 4

2025-10-25T04:02:59.391Z,1761364979.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.421722 m,
      bearing: 335.310771 deg,
      lat: 36.779461 deg,
      lon: -121.859734 deg,
      deltaT: 3.787575 s,
      deltaX: -1.590256 m,
      approachRate: -0.419861 m/s,
      posRepo size: 4

2025-10-25T04:02:59.392Z,1761364979.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:02:59.399Z,1761364979.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 121.660873 m,
      bearing: 334.933504 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053862 deg/s,
      cmd heading: 333.230777 deg,
      new cmd heading: 333.158664 deg.

2025-10-25T04:02:59.399Z,1761364979.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814715 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:02:59.695Z,1761364979.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897703,0.437206,-0.054595],[-0.440165,0.895415,-0.066984],[0.019600,0.084163,0.996259]]
2025-10-25T04:02:59.716Z,1761364979.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:02:59.719Z,1761364979.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 121.490273 m,
      bearing: 334.914408 deg,
      approach rate: -0.514352 m/s,
      LOS rate: -0.057656 deg/s,
      cmd heading: 333.158651 deg,
      new cmd heading: 333.101281 deg.

2025-10-25T04:02:59.719Z,1761364979.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813714 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:00.091Z,1761364980.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896863,0.438629,-0.056942],[-0.441815,0.894492,-0.068436],[0.020916,0.086535,0.996029]]
2025-10-25T04:03:00.171Z,1761364980.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:00.193Z,1761364980.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 121.263084 m,
      bearing: 334.900369 deg,
      approach rate: -0.499095 m/s,
      LOS rate: -0.030898 deg/s,
      cmd heading: 333.101277 deg,
      new cmd heading: 333.059083 deg.

2025-10-25T04:03:00.194Z,1761364980.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812978 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:00.507Z,1761364980.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895924,0.440551,-0.056873],[-0.443700,0.893651,-0.067214],[0.021213,0.085453,0.996116]]
2025-10-25T04:03:00.549Z,1761364980.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:00.551Z,1761364980.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:00.578Z,1761364980.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 121.080330 m,
      bearing: 334.889227 deg,
      approach rate: -0.480423 m/s,
      LOS rate: -0.029336 deg/s,
      cmd heading: 333.059094 deg,
      new cmd heading: 333.025615 deg.

2025-10-25T04:03:00.589Z,1761364980.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812394 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:00.689Z,1761364980.689 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:00.689Z,1761364980.689 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:00.690Z,1761364980.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:00.901Z,1761364980.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895420,0.441524,-0.057270],[-0.444741,0.893004,-0.068914],[0.020715,0.087178,0.995977]]
2025-10-25T04:03:00.942Z,1761364980.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742494
2025-10-25T04:03:00.955Z,1761364980.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:00.958Z,1761364980.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 120.853470 m,
      bearing: 334.886751 deg,
      approach rate: -0.561513 m/s,
      LOS rate: -0.006139 deg/s,
      cmd heading: 333.025626 deg,
      new cmd heading: 333.018185 deg.

2025-10-25T04:03:00.959Z,1761364980.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812264 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:01.195Z,1761364981.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995428
2025-10-25T04:03:01.312Z,1761364981.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895385,0.441615,-0.057116],[-0.444858,0.892791,-0.070887],[0.019688,0.088880,0.995848]]
2025-10-25T04:03:01.344Z,1761364981.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:01.348Z,1761364981.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 120.640442 m,
      bearing: 334.884419 deg,
      approach rate: -0.548647 m/s,
      LOS rate: -0.006015 deg/s,
      cmd heading: 333.018195 deg,
      new cmd heading: 333.011188 deg.

2025-10-25T04:03:01.349Z,1761364981.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812142 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:01.447Z,1761364981.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247085
2025-10-25T04:03:01.698Z,1761364981.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499068
2025-10-25T04:03:01.711Z,1761364981.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895517,0.441406,-0.056666],[-0.444612,0.892901,-0.071051],[0.019235,0.088822,0.995862]]
2025-10-25T04:03:01.759Z,1761364981.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:01.767Z,1761364981.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 120.424866 m,
      bearing: 334.882023 deg,
      approach rate: -0.519188 m/s,
      LOS rate: -0.005781 deg/s,
      cmd heading: 333.011201 deg,
      new cmd heading: 333.003999 deg.

2025-10-25T04:03:01.773Z,1761364981.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812016 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:01.950Z,1761364981.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750531
2025-10-25T04:03:02.113Z,1761364982.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895278,0.441815,-0.057249],[-0.445080,0.892634,-0.071467],[0.019527,0.089463,0.995799]]
2025-10-25T04:03:02.173Z,1761364982.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:02.175Z,1761364982.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 120.170311 m,
      bearing: 334.889144 deg,
      approach rate: -0.615540 m/s,
      LOS rate: 0.017254 deg/s,
      cmd heading: 333.003988 deg,
      new cmd heading: 333.025394 deg.

2025-10-25T04:03:02.176Z,1761364982.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812390 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:02.202Z,1761364982.202 [DAT](INFO): DAT read: Rx Time:04:03:01.1894

2025-10-25T04:03:02.202Z,1761364982.202 [DAT](INFO): Rx dataTimestamp_ set to:1761364982.201876
2025-10-25T04:03:02.203Z,1761364982.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003538
2025-10-25T04:03:02.453Z,1761364982.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254308
2025-10-25T04:03:02.522Z,1761364982.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893865,0.444278,-0.060195],[-0.447855,0.891043,-0.073950],[0.020782,0.093060,0.995444]]
2025-10-25T04:03:02.552Z,1761364982.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:02.554Z,1761364982.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.42 m.
2025-10-25T04:03:02.557Z,1761364982.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.421722 m,
      nav range: 119.947845 m,
      bearing: 334.895701 deg,
      approach rate: -0.582683 m/s,
      LOS rate: 0.017206 deg/s,
      cmd heading: 333.025407 deg,
      new cmd heading: 333.045115 deg.

2025-10-25T04:03:02.558Z,1761364982.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812734 target range: 122.421722 and range: 123.00 m.
2025-10-25T04:03:02.712Z,1761364982.712 [DAT](INFO): DAT read: 04:03:01.1894 LVL= 26688, 31729, 24130, 32755, AGC= 64, IDX= 422,-0.15, 2.074, 0.712, 2.070, 1.672, PHS= 0.490,-0.913, 0.395, RAW= 146.5,   0.4, CAL= 150.1,  -8.6, ROT= 359.9,   8.6

2025-10-25T04:03:02.714Z,1761364982.714 [DAT](INFO): got valid direction response:
 04:03:01.1894 LVL= 26688, 31729, 24130, 32755, AGC= 64, IDX= 422,-0.15, 2.074, 0.712, 2.070, 1.672, PHS= 0.490,-0.913, 0.395, RAW= 146.5,   0.4, CAL= 150.1,  -8.6, ROT= 359.9,   8.6

2025-10-25T04:03:02.715Z,1761364982.715 [DAT](INFO): DAT read: Bearing 359.9,   8.6 (Local)

2025-10-25T04:03:02.715Z,1761364982.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,   8.6 (Local)

2025-10-25T04:03:02.717Z,1761364982.717 [DAT](INFO): DAT read: Range 10 to 50 : 121.4 m  (Round-trip  161.9 ms) speed  0.6 m/s

2025-10-25T04:03:02.718Z,1761364982.718 [DAT](INFO): DAT read: user:299>

2025-10-25T04:03:02.718Z,1761364982.718 [DAT](INFO): DAT read: Tx time:04:03:02.2734

2025-10-25T04:03:02.719Z,1761364982.719 [DAT](INFO): Ping request sent.
2025-10-25T04:03:02.719Z,1761364982.719 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:02.719Z,1761364982.719 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:02.720Z,1761364982.720 [DAT](INFO): direction in FSK: [0.988755,-0.001726,-0.149535]
2025-10-25T04:03:02.721Z,1761364982.721 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:02.721Z,1761364982.721 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:02.724Z,1761364982.724 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:02.724Z,1761364982.724 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:02.958Z,1761364982.958 [DAT](INFO): DAT read: TxSync time:04:03:02.2726

2025-10-25T04:03:03.024Z,1761364983.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.400002 m,
      deltaT: 3.528159 s,
      deltaX: -1.599998 m,
      approachRate: -0.453494 m/s,
      rangeRepo size: 4

2025-10-25T04:03:03.031Z,1761364983.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.827591 m,
      bearing: 334.092543 deg,
      lat: 36.779461 deg,
      lon: -121.859734 deg,
      deltaT: 3.528159 s,
      deltaX: -1.594131 m,
      approachRate: -0.451831 m/s,
      posRepo size: 4

2025-10-25T04:03:03.032Z,1761364983.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:03.039Z,1761364983.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 119.666748 m,
      bearing: 334.912803 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017206 deg/s,
      cmd heading: 333.045106 deg,
      new cmd heading: 333.069301 deg.

2025-10-25T04:03:03.040Z,1761364983.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813156 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:03.325Z,1761364983.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892427,0.447228,-0.059666],[-0.450601,0.890194,-0.067181],[0.023069,0.086840,0.995955]]
2025-10-25T04:03:03.356Z,1761364983.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:03.359Z,1761364983.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 119.445854 m,
      bearing: 334.926671 deg,
      approach rate: -0.663594 m/s,
      LOS rate: 0.041737 deg/s,
      cmd heading: 333.069312 deg,
      new cmd heading: 333.110991 deg.

2025-10-25T04:03:03.359Z,1761364983.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813884 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:03.730Z,1761364983.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891919,0.448140,-0.060428],[-0.451577,0.889696,-0.067227],[0.023635,0.087249,0.995906]]
2025-10-25T04:03:03.748Z,1761364983.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:03.767Z,1761364983.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 119.200851 m,
      bearing: 334.942241 deg,
      approach rate: -0.624203 m/s,
      LOS rate: 0.039752 deg/s,
      cmd heading: 333.111003 deg,
      new cmd heading: 333.157811 deg.

2025-10-25T04:03:03.768Z,1761364983.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814701 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:04.134Z,1761364984.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891262,0.449332,-0.061262],[-0.452806,0.889173,-0.065859],[0.024880,0.086437,0.995947]]
2025-10-25T04:03:04.187Z,1761364984.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:04.192Z,1761364984.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 118.922058 m,
      bearing: 334.964201 deg,
      approach rate: -0.637239 m/s,
      LOS rate: 0.050311 deg/s,
      cmd heading: 333.157804 deg,
      new cmd heading: 333.223837 deg.

2025-10-25T04:03:04.193Z,1761364984.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815853 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:04.541Z,1761364984.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891192,0.449476,-0.061227],[-0.452967,0.889029,-0.066696],[0.024454,0.087173,0.995893]]
2025-10-25T04:03:04.565Z,1761364984.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:04.567Z,1761364984.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:04.570Z,1761364984.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 118.675201 m,
      bearing: 334.983751 deg,
      approach rate: -0.647321 m/s,
      LOS rate: 0.051371 deg/s,
      cmd heading: 333.223838 deg,
      new cmd heading: 333.282609 deg.

2025-10-25T04:03:04.571Z,1761364984.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816879 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:04.721Z,1761364984.721 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:04.721Z,1761364984.721 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:04.722Z,1761364984.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:04.974Z,1761364984.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254671
2025-10-25T04:03:05.000Z,1761364985.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:05.003Z,1761364985.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 118.398994 m,
      bearing: 335.006880 deg,
      approach rate: -0.637756 m/s,
      LOS rate: 0.053529 deg/s,
      cmd heading: 333.282605 deg,
      new cmd heading: 333.352154 deg.

2025-10-25T04:03:05.004Z,1761364985.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818093 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:05.226Z,1761364985.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506651
2025-10-25T04:03:05.344Z,1761364985.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890718,0.450134,-0.063254],[-0.453926,0.888154,-0.071645],[0.023930,0.092528,0.995423]]
2025-10-25T04:03:05.374Z,1761364985.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:05.377Z,1761364985.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 118.159531 m,
      bearing: 335.027132 deg,
      approach rate: -0.640392 m/s,
      LOS rate: 0.054269 deg/s,
      cmd heading: 333.352164 deg,
      new cmd heading: 333.413043 deg.

2025-10-25T04:03:05.378Z,1761364985.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819155 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:05.478Z,1761364985.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758717
2025-10-25T04:03:05.557Z,1761364985.557 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:03:05.732Z,1761364985.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012531
2025-10-25T04:03:05.774Z,1761364985.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890210,0.450980,-0.064372],[-0.454923,0.887480,-0.073650],[0.023914,0.094848,0.995205]]
2025-10-25T04:03:05.815Z,1761364985.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:05.818Z,1761364985.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 117.892197 m,
      bearing: 335.049982 deg,
      approach rate: -0.607838 m/s,
      LOS rate: 0.052071 deg/s,
      cmd heading: 333.413034 deg,
      new cmd heading: 333.481739 deg.

2025-10-25T04:03:05.819Z,1761364985.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820354 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:05.982Z,1761364985.982 [DAT](INFO): DAT read: Rx Time:04:03:04.8361

2025-10-25T04:03:05.982Z,1761364985.982 [DAT](INFO): Rx dataTimestamp_ set to:1761364985.981723
2025-10-25T04:03:05.983Z,1761364985.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263669
2025-10-25T04:03:06.154Z,1761364986.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890020,0.451217,-0.065325],[-0.455287,0.887166,-0.075164],[0.024039,0.096639,0.995029]]
2025-10-25T04:03:06.231Z,1761364986.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.83 m.
2025-10-25T04:03:06.235Z,1761364986.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516198
2025-10-25T04:03:06.239Z,1761364986.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.827591 m,
      nav range: 117.641922 m,
      bearing: 335.066891 deg,
      approach rate: -0.601541 m/s,
      LOS rate: 0.040729 deg/s,
      cmd heading: 333.481746 deg,
      new cmd heading: 333.532583 deg.

2025-10-25T04:03:06.240Z,1761364986.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821242 target range: 120.827591 and range: 121.40 m.
2025-10-25T04:03:06.493Z,1761364986.493 [DAT](INFO): DAT read: 04:03:04.8361 LVL= 19600, 26609, 16674, 26819, AGC= 65, IDX= 403, 0.18, 2.636, 1.242, 2.582, 2.174, PHS= 0.550,-0.884, 0.405, RAW= 144.7,  -1.0, CAL= 148.9, -10.1, ROT=   1.1,  10.1

2025-10-25T04:03:06.494Z,1761364986.494 [DAT](INFO): got valid direction response:
 04:03:04.8361 LVL= 19600, 26609, 16674, 26819, AGC= 65, IDX= 403, 0.18, 2.636, 1.242, 2.582, 2.174, PHS= 0.550,-0.884, 0.405, RAW= 144.7,  -1.0, CAL= 148.9, -10.1, ROT=   1.1,  10.1

2025-10-25T04:03:06.495Z,1761364986.495 [DAT](INFO): DAT read: Bearing   1.1,  10.1 (Local)

2025-10-25T04:03:06.495Z,1761364986.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  10.1 (Local)

2025-10-25T04:03:06.498Z,1761364986.498 [DAT](INFO): DAT read: Range 10 to 50 : 118.8 m  (Round-trip  158.5 ms) speed  0.5 m/s

2025-10-25T04:03:06.498Z,1761364986.498 [DAT](INFO): DAT read: user:300>

2025-10-25T04:03:06.499Z,1761364986.499 [DAT](INFO): DAT read: Tx time:04:03:05.9234

2025-10-25T04:03:06.500Z,1761364986.500 [DAT](INFO): Ping request sent.
2025-10-25T04:03:06.500Z,1761364986.500 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:06.501Z,1761364986.501 [DAT](INFO): DAT read: TxSync time:04:03:05.9226

2025-10-25T04:03:06.502Z,1761364986.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:06.502Z,1761364986.502 [DAT](INFO): direction in FSK: [0.984322,0.018900,-0.175367]
2025-10-25T04:03:06.503Z,1761364986.503 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:06.503Z,1761364986.503 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:06.508Z,1761364986.508 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:06.509Z,1761364986.509 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:06.566Z,1761364986.566 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:03:06.618Z,1761364986.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889368,0.452460,-0.065607],[-0.456551,0.886524,-0.075078],[0.024192,0.096725,0.995017]]
2025-10-25T04:03:06.676Z,1761364986.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.800003 m,
      deltaT: 3.780787 s,
      deltaX: -2.599998 m,
      approachRate: -0.687687 m/s,
      rangeRepo size: 4

2025-10-25T04:03:06.682Z,1761364986.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.238548 m,
      bearing: 334.900103 deg,
      lat: 36.779461 deg,
      lon: -121.859734 deg,
      deltaT: 3.780787 s,
      deltaX: -2.589043 m,
      approachRate: -0.684789 m/s,
      posRepo size: 4

2025-10-25T04:03:06.683Z,1761364986.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:06.689Z,1761364986.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 117.359535 m,
      bearing: 335.086258 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040729 deg/s,
      cmd heading: 333.532590 deg,
      new cmd heading: 333.586956 deg.

2025-10-25T04:03:06.690Z,1761364986.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822191 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:06.999Z,1761364986.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888652,0.453835,-0.065813],[-0.457882,0.886040,-0.072646],[0.025344,0.094692,0.995184]]
2025-10-25T04:03:07.068Z,1761364987.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:07.074Z,1761364987.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:07.081Z,1761364987.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 117.111687 m,
      bearing: 335.099986 deg,
      approach rate: -0.620549 m/s,
      LOS rate: 0.034443 deg/s,
      cmd heading: 333.586958 deg,
      new cmd heading: 333.628228 deg.

2025-10-25T04:03:07.082Z,1761364987.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822911 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:07.242Z,1761364987.242 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:07.242Z,1761364987.242 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:07.242Z,1761364987.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:07.432Z,1761364987.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:07.435Z,1761364987.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 116.893837 m,
      bearing: 335.112100 deg,
      approach rate: -0.609290 m/s,
      LOS rate: 0.033944 deg/s,
      cmd heading: 333.628240 deg,
      new cmd heading: 333.664650 deg.

2025-10-25T04:03:07.436Z,1761364987.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823547 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:07.495Z,1761364987.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995225
2025-10-25T04:03:07.747Z,1761364987.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246572
2025-10-25T04:03:07.804Z,1761364987.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889503,0.452150,-0.065917],[-0.456195,0.886962,-0.072006],[0.025908,0.094121,0.995224]]
2025-10-25T04:03:07.830Z,1761364987.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:07.833Z,1761364987.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 116.656487 m,
      bearing: 335.125126 deg,
      approach rate: -0.596602 m/s,
      LOS rate: 0.032810 deg/s,
      cmd heading: 333.664658 deg,
      new cmd heading: 333.703818 deg.

2025-10-25T04:03:07.834Z,1761364987.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824230 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:07.999Z,1761364987.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499574
2025-10-25T04:03:08.206Z,1761364988.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890426,0.450310,-0.066054],[-0.454438,0.887653,-0.074558],[0.025059,0.096406,0.995027]]
2025-10-25T04:03:08.251Z,1761364988.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751444
2025-10-25T04:03:08.307Z,1761364988.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:08.315Z,1761364988.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 116.405205 m,
      bearing: 335.128440 deg,
      approach rate: -0.526583 m/s,
      LOS rate: 0.006958 deg/s,
      cmd heading: 333.703809 deg,
      new cmd heading: 333.713771 deg.

2025-10-25T04:03:08.316Z,1761364988.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824404 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:08.502Z,1761364988.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001910
2025-10-25T04:03:08.618Z,1761364988.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891145,0.448815,-0.066529],[-0.453053,0.888161,-0.076893],[0.024578,0.098664,0.994817]]
2025-10-25T04:03:08.638Z,1761364988.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:08.641Z,1761364988.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 116.212265 m,
      bearing: 335.130853 deg,
      approach rate: -0.583358 m/s,
      LOS rate: 0.007309 deg/s,
      cmd heading: 333.713781 deg,
      new cmd heading: 333.721033 deg.

2025-10-25T04:03:08.641Z,1761364988.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824531 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:08.754Z,1761364988.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254321
2025-10-25T04:03:09.005Z,1761364989.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505794
2025-10-25T04:03:09.024Z,1761364989.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891496,0.448072,-0.066830],[-0.452383,0.888358,-0.078547],[0.024174,0.100257,0.994668]]
2025-10-25T04:03:09.082Z,1761364989.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:09.084Z,1761364989.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:09.087Z,1761364989.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 115.982208 m,
      bearing: 335.123137 deg,
      approach rate: -0.515435 m/s,
      LOS rate: -0.017322 deg/s,
      cmd heading: 333.721021 deg,
      new cmd heading: 333.697827 deg.

2025-10-25T04:03:09.088Z,1761364989.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824126 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:09.258Z,1761364989.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757980
2025-10-25T04:03:09.425Z,1761364989.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891917,0.447203,-0.067037],[-0.451579,0.888616,-0.080236],[0.023689,0.101836,0.994519]]
2025-10-25T04:03:09.445Z,1761364989.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:09.449Z,1761364989.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 115.795418 m,
      bearing: 335.116774 deg,
      approach rate: -0.518157 m/s,
      LOS rate: -0.017680 deg/s,
      cmd heading: 333.697826 deg,
      new cmd heading: 333.678705 deg.

2025-10-25T04:03:09.450Z,1761364989.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823792 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:09.511Z,1761364989.511 [DAT](INFO): DAT read: Rx Time:04:03:08.4831

2025-10-25T04:03:09.511Z,1761364989.511 [DAT](INFO): Rx dataTimestamp_ set to:1761364989.511102
2025-10-25T04:03:09.513Z,1761364989.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013118
2025-10-25T04:03:09.762Z,1761364989.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261828
2025-10-25T04:03:09.829Z,1761364989.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892352,0.446273,-0.067436],[-0.450731,0.888902,-0.081817],[0.023431,0.103405,0.994363]]
2025-10-25T04:03:09.851Z,1761364989.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.24 m.
2025-10-25T04:03:09.870Z,1761364989.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.238548 m,
      nav range: 115.587296 m,
      bearing: 335.109570 deg,
      approach rate: -0.512109 m/s,
      LOS rate: -0.017757 deg/s,
      cmd heading: 333.678701 deg,
      new cmd heading: 333.657052 deg.

2025-10-25T04:03:09.871Z,1761364989.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823414 target range: 118.238548 and range: 118.80 m.
2025-10-25T04:03:10.023Z,1761364990.023 [DAT](INFO): DAT read: 04:03:08.4831 LVL= 21552, 30145, 19202, 32659, AGC= 68, IDX= 404,-0.25,-3.120, 1.816, 3.124, 2.765, PHS= 0.486,-0.902, 0.356, RAW= 145.1,   0.9, CAL= 148.7,  -8.0, ROT=   1.3,   8.0

2025-10-25T04:03:10.027Z,1761364990.027 [DAT](INFO): got valid direction response:
 04:03:08.4831 LVL= 21552, 30145, 19202, 32659, AGC= 68, IDX= 404,-0.25,-3.120, 1.816, 3.124, 2.765, PHS= 0.486,-0.902, 0.356, RAW= 145.1,   0.9, CAL= 148.7,  -8.0, ROT=   1.3,   8.0

2025-10-25T04:03:10.028Z,1761364990.028 [DAT](INFO): DAT read: Bearing   1.3,   8.0 (Local)

2025-10-25T04:03:10.029Z,1761364990.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,   8.0 (Local)

2025-10-25T04:03:10.031Z,1761364990.031 [DAT](INFO): DAT read: Range 10 to 50 : 116.5 m  (Round-trip  155.4 ms) speed  0.4 m/s

2025-10-25T04:03:10.033Z,1761364990.033 [DAT](INFO): DAT read: user:301>

2025-10-25T04:03:10.034Z,1761364990.034 [DAT](INFO): DAT read: Tx time:04:03:09.5735

2025-10-25T04:03:10.034Z,1761364990.034 [DAT](INFO): Ping request sent.
2025-10-25T04:03:10.034Z,1761364990.034 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:10.035Z,1761364990.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:10.041Z,1761364990.041 [DAT](INFO): direction in FSK: [0.990013,0.022467,-0.139173]
2025-10-25T04:03:10.041Z,1761364990.041 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:10.042Z,1761364990.042 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:10.057Z,1761364990.057 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:10.057Z,1761364990.057 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:10.225Z,1761364990.225 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:03:10.242Z,1761364990.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892924,0.445162,-0.067214],[-0.449638,0.889306,-0.083434],[0.022632,0.104722,0.994244]]
2025-10-25T04:03:10.266Z,1761364990.266 [DAT](INFO): DAT read: TxSync time:04:03:09.5727

2025-10-25T04:03:10.369Z,1761364990.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.500000 m,
      deltaT: 3.528326 s,
      deltaX: -2.300003 m,
      approachRate: -0.651868 m/s,
      rangeRepo size: 4

2025-10-25T04:03:10.371Z,1761364990.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.951012 m,
      bearing: 335.401849 deg,
      lat: 36.779462 deg,
      lon: -121.859734 deg,
      deltaT: 3.528326 s,
      deltaX: -2.287537 m,
      approachRate: -0.648335 m/s,
      posRepo size: 4

2025-10-25T04:03:10.372Z,1761364990.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:10.375Z,1761364990.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 115.464195 m,
      bearing: 335.117432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017757 deg/s,
      cmd heading: 333.657063 deg,
      new cmd heading: 333.629483 deg.

2025-10-25T04:03:10.376Z,1761364990.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822933 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:10.649Z,1761364990.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893217,0.444522,-0.067560],[-0.449035,0.889620,-0.083334],[0.023059,0.104772,0.994229]]
2025-10-25T04:03:10.669Z,1761364990.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:10.671Z,1761364990.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 115.314964 m,
      bearing: 335.105887 deg,
      approach rate: -0.497911 m/s,
      LOS rate: -0.038572 deg/s,
      cmd heading: 333.629469 deg,
      new cmd heading: 333.594788 deg.

2025-10-25T04:03:10.672Z,1761364990.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822328 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:11.049Z,1761364991.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894031,0.443120,-0.065981],[-0.447377,0.890836,-0.079150],[0.023705,0.100280,0.994677]]
2025-10-25T04:03:11.116Z,1761364991.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:11.122Z,1761364991.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:11.129Z,1761364991.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 115.108978 m,
      bearing: 335.083747 deg,
      approach rate: -0.454084 m/s,
      LOS rate: -0.048892 deg/s,
      cmd heading: 333.594799 deg,
      new cmd heading: 333.528262 deg.

2025-10-25T04:03:11.131Z,1761364991.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821167 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:11.273Z,1761364991.273 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:11.273Z,1761364991.273 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:11.274Z,1761364991.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:11.456Z,1761364991.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894903,0.441347,-0.066040],[-0.445633,0.891650,-0.079817],[0.023657,0.100858,0.994620]]
2025-10-25T04:03:11.482Z,1761364991.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:11.485Z,1761364991.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 114.936371 m,
      bearing: 335.064961 deg,
      approach rate: -0.479700 m/s,
      LOS rate: -0.052289 deg/s,
      cmd heading: 333.528273 deg,
      new cmd heading: 333.471829 deg.

2025-10-25T04:03:11.486Z,1761364991.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820181 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:11.527Z,1761364991.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491990
2025-10-25T04:03:11.777Z,1761364991.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742825
2025-10-25T04:03:11.857Z,1761364991.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896255,0.438877,-0.064133],[-0.442976,0.892992,-0.079611],[0.022330,0.099761,0.994761]]
2025-10-25T04:03:11.922Z,1761364991.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:11.930Z,1761364991.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 114.739799 m,
      bearing: 335.043184 deg,
      approach rate: -0.446313 m/s,
      LOS rate: -0.049528 deg/s,
      cmd heading: 333.471828 deg,
      new cmd heading: 333.406387 deg.

2025-10-25T04:03:11.931Z,1761364991.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819039 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:12.031Z,1761364992.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996426
2025-10-25T04:03:12.282Z,1761364992.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247863
2025-10-25T04:03:12.453Z,1761364992.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898583,0.434524,-0.061126],[-0.438338,0.895292,-0.079456],[0.020200,0.098192,0.994962]]
2025-10-25T04:03:12.535Z,1761364992.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500108
2025-10-25T04:03:12.551Z,1761364992.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:12.557Z,1761364992.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 114.450020 m,
      bearing: 335.006956 deg,
      approach rate: -0.461139 m/s,
      LOS rate: -0.057797 deg/s,
      cmd heading: 333.406395 deg,
      new cmd heading: 333.297436 deg.

2025-10-25T04:03:12.558Z,1761364992.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817138 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:12.786Z,1761364992.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751271
2025-10-25T04:03:12.852Z,1761364992.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899467,0.432839,-0.060078],[-0.436570,0.896088,-0.080208],[0.019118,0.098372,0.994966]]
2025-10-25T04:03:12.919Z,1761364992.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:12.922Z,1761364992.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 114.268257 m,
      bearing: 334.983946 deg,
      approach rate: -0.493294 m/s,
      LOS rate: -0.062549 deg/s,
      cmd heading: 333.297440 deg,
      new cmd heading: 333.228299 deg.

2025-10-25T04:03:12.923Z,1761364992.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815931 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:13.038Z,1761364993.038 [DAT](INFO): DAT read: Rx Time:04:03:12.1310

2025-10-25T04:03:13.038Z,1761364993.038 [DAT](INFO): Rx dataTimestamp_ set to:1761364993.037978
2025-10-25T04:03:13.039Z,1761364993.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004297
2025-10-25T04:03:13.290Z,1761364993.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255546
2025-10-25T04:03:13.306Z,1761364993.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900173,0.431604,-0.058365],[-0.435161,0.896826,-0.079609],[0.017984,0.097060,0.995116]]
2025-10-25T04:03:13.397Z,1761364993.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:13.399Z,1761364993.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:13.408Z,1761364993.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 114.049110 m,
      bearing: 334.959981 deg,
      approach rate: -0.456614 m/s,
      LOS rate: -0.050027 deg/s,
      cmd heading: 333.228291 deg,
      new cmd heading: 333.156261 deg.

2025-10-25T04:03:13.418Z,1761364993.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814674 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:13.545Z,1761364993.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509286
2025-10-25T04:03:13.727Z,1761364993.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900325,0.431476,-0.056953],[-0.434901,0.896933,-0.079826],[0.016640,0.096638,0.995180]]
2025-10-25T04:03:13.765Z,1761364993.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.95 m.
2025-10-25T04:03:13.768Z,1761364993.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.951012 m,
      nav range: 113.861069 m,
      bearing: 334.939314 deg,
      approach rate: -0.513601 m/s,
      LOS rate: -0.056544 deg/s,
      cmd heading: 333.156274 deg,
      new cmd heading: 333.094168 deg.

2025-10-25T04:03:13.769Z,1761364993.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813590 target range: 115.951012 and range: 116.50 m.
2025-10-25T04:03:13.800Z,1761364993.800 [DAT](INFO): DAT read: 04:03:12.1310 LVL= 19600, 25057, 17202, 29171, AGC= 67, IDX= 415,-0.37,-0.569,-1.943,-0.553,-0.960, PHS= 0.479,-0.936, 0.404, RAW= 147.3,   0.8, CAL= 150.6,  -8.1, ROT= 359.4,   8.1

2025-10-25T04:03:13.802Z,1761364993.802 [DAT](INFO): got valid direction response:
 04:03:12.1310 LVL= 19600, 25057, 17202, 29171, AGC= 67, IDX= 415,-0.37,-0.569,-1.943,-0.553,-0.960, PHS= 0.479,-0.936, 0.404, RAW= 147.3,   0.8, CAL= 150.6,  -8.1, ROT= 359.4,   8.1

2025-10-25T04:03:13.803Z,1761364993.803 [DAT](INFO): DAT read: Bearing 359.4,   8.1 (Local)

2025-10-25T04:03:13.803Z,1761364993.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   8.1 (Local)

2025-10-25T04:03:13.805Z,1761364993.805 [DAT](INFO): DAT read: Range 10 to 50 : 115.0 m  (Round-trip  153.4 ms) speed  0.3 m/s

2025-10-25T04:03:13.806Z,1761364993.806 [DAT](INFO): DAT read: user:302>

2025-10-25T04:03:13.807Z,1761364993.807 [DAT](INFO): DAT read: Tx time:04:03:13.2235

2025-10-25T04:03:13.807Z,1761364993.807 [DAT](INFO): Ping request sent.
2025-10-25T04:03:13.807Z,1761364993.807 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:13.808Z,1761364993.808 [DAT](INFO): DAT read: TxSync time:04:03:13.2227

2025-10-25T04:03:13.808Z,1761364993.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:13.810Z,1761364993.810 [DAT](INFO): direction in FSK: [0.989969,-0.010367,-0.140901]
2025-10-25T04:03:13.810Z,1761364993.810 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:13.810Z,1761364993.810 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:13.815Z,1761364993.815 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:13.815Z,1761364993.815 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:14.130Z,1761364994.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900062,0.432258,-0.055142],[-0.435494,0.896713,-0.079068],[0.015269,0.095180,0.995343]]
2025-10-25T04:03:14.209Z,1761364994.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.000000 m,
      deltaT: 3.778729 s,
      deltaX: -1.500000 m,
      approachRate: -0.396959 m/s,
      rangeRepo size: 4

2025-10-25T04:03:14.211Z,1761364994.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.457047 m,
      bearing: 334.358658 deg,
      lat: 36.779457 deg,
      lon: -121.859736 deg,
      deltaT: 3.778729 s,
      deltaX: -1.493965 m,
      approachRate: -0.395362 m/s,
      posRepo size: 4

2025-10-25T04:03:14.217Z,1761364994.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:14.219Z,1761364994.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 113.194466 m,
      bearing: 334.729003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056544 deg/s,
      cmd heading: 333.094174 deg,
      new cmd heading: 333.019721 deg.

2025-10-25T04:03:14.220Z,1761364994.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812291 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:14.545Z,1761364994.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897929,0.436640,-0.055405],[-0.439904,0.894437,-0.080422],[0.014441,0.096586,0.995220]]
2025-10-25T04:03:14.567Z,1761364994.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:14.570Z,1761364994.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 112.998581 m,
      bearing: 334.715657 deg,
      approach rate: -0.539858 m/s,
      LOS rate: -0.036847 deg/s,
      cmd heading: 333.019725 deg,
      new cmd heading: 332.979616 deg.

2025-10-25T04:03:14.571Z,1761364994.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811591 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:14.937Z,1761364994.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896857,0.439093,-0.053335],[-0.442113,0.893587,-0.077703],[0.013541,0.093268,0.995549]]
2025-10-25T04:03:14.958Z,1761364994.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:14.961Z,1761364994.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 112.796936 m,
      bearing: 334.702134 deg,
      approach rate: -0.515844 m/s,
      LOS rate: -0.034655 deg/s,
      cmd heading: 332.979618 deg,
      new cmd heading: 332.938978 deg.

2025-10-25T04:03:14.962Z,1761364994.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810881 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:15.340Z,1761364995.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895759,0.441640,-0.050695],[-0.444387,0.892594,-0.076124],[0.011631,0.090717,0.995809]]
2025-10-25T04:03:15.439Z,1761364995.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:15.450Z,1761364995.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:15.461Z,1761364995.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 112.547546 m,
      bearing: 334.697619 deg,
      approach rate: -0.506637 m/s,
      LOS rate: -0.009193 deg/s,
      cmd heading: 332.938964 deg,
      new cmd heading: 332.925388 deg.

2025-10-25T04:03:15.462Z,1761364995.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810644 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:15.563Z,1761364995.563 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:15.563Z,1761364995.563 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:15.563Z,1761364995.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:15.814Z,1761364995.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006962
2025-10-25T04:03:15.841Z,1761364995.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:15.844Z,1761364995.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 112.312553 m,
      bearing: 334.693346 deg,
      approach rate: -0.601533 m/s,
      LOS rate: -0.010961 deg/s,
      cmd heading: 332.925386 deg,
      new cmd heading: 332.912540 deg.

2025-10-25T04:03:15.845Z,1761364995.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810420 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:16.066Z,1761364996.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258700
2025-10-25T04:03:16.187Z,1761364996.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894104,0.445495,-0.045965],[-0.447794,0.891009,-0.074717],[0.007669,0.087387,0.996145]]
2025-10-25T04:03:16.273Z,1761364996.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:16.281Z,1761364996.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 112.061119 m,
      bearing: 334.698847 deg,
      approach rate: -0.584519 m/s,
      LOS rate: 0.012817 deg/s,
      cmd heading: 332.912545 deg,
      new cmd heading: 332.929085 deg.

2025-10-25T04:03:16.283Z,1761364996.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810709 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:16.320Z,1761364996.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512830
2025-10-25T04:03:16.573Z,1761364996.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766486
2025-10-25T04:03:16.651Z,1761364996.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:16.654Z,1761364996.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 111.818169 m,
      bearing: 334.704186 deg,
      approach rate: -0.638928 m/s,
      LOS rate: 0.014071 deg/s,
      cmd heading: 332.929074 deg,
      new cmd heading: 332.945125 deg.

2025-10-25T04:03:16.655Z,1761364996.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810989 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:16.826Z,1761364996.826 [DAT](INFO): DAT read: Rx Time:04:03:15.7787

2025-10-25T04:03:16.826Z,1761364996.826 [DAT](INFO): Rx dataTimestamp_ set to:1761364996.826018
2025-10-25T04:03:16.827Z,1761364996.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019865
2025-10-25T04:03:16.994Z,1761364996.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891811,0.450260,-0.044030],[-0.452365,0.888830,-0.073128],[0.006209,0.085134,0.996350]]
2025-10-25T04:03:17.081Z,1761364997.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273164
2025-10-25T04:03:17.103Z,1761364997.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:17.111Z,1761364997.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 111.596893 m,
      bearing: 334.709666 deg,
      approach rate: -0.489363 m/s,
      LOS rate: 0.012144 deg/s,
      cmd heading: 332.945139 deg,
      new cmd heading: 332.961612 deg.

2025-10-25T04:03:17.112Z,1761364997.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811276 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:17.337Z,1761364997.337 [DAT](INFO): DAT read: 04:03:15.7787 LVL= 19888, 32753, 17330, 27107, AGC= 65, IDX= 422, 0.43,-0.360,-1.756,-0.393,-0.779, PHS= 0.507,-0.930, 0.383, RAW= 145.5,   0.6, CAL= 149.2,  -8.4, ROT=   0.8,   8.4

2025-10-25T04:03:17.338Z,1761364997.338 [DAT](INFO): got valid direction response:
 04:03:15.7787 LVL= 19888, 32753, 17330, 27107, AGC= 65, IDX= 422, 0.43,-0.360,-1.756,-0.393,-0.779, PHS= 0.507,-0.930, 0.383, RAW= 145.5,   0.6, CAL= 149.2,  -8.4, ROT=   0.8,   8.4

2025-10-25T04:03:17.339Z,1761364997.339 [DAT](INFO): DAT read: Bearing   0.8,   8.4 (Local)

2025-10-25T04:03:17.340Z,1761364997.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,   8.4 (Local)

2025-10-25T04:03:17.341Z,1761364997.341 [DAT](INFO): DAT read: Range 10 t13.2 m  (Round-tri ms) speed  0.7 m/s

2025-10-25T04:03:17.341Z,1761364997.341 [DAT](INFO): unknown deviceResponse_: Range 10 t13.2 m  (Round-tri ms) speed  0.7 m/s

2025-10-25T04:03:17.342Z,1761364997.342 [DAT](INFO): DAT read: user:303>

2025-10-25T04:03:17.342Z,1761364997.342 [DAT](INFO): DAT read: Tx time:04:03:16.8735

2025-10-25T04:03:17.343Z,1761364997.343 [DAT](INFO): Ping request sent.
2025-10-25T04:03:17.343Z,1761364997.343 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:17.343Z,1761364997.343 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-10-25T04:03:17.344Z,1761364997.344 [DAT](INFO): direction in FSK: [0.989176,0.013812,-0.146083]
2025-10-25T04:03:17.345Z,1761364997.345 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:17.347Z,1761364997.347 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:17.472Z,1761364997.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890739,0.452422,-0.043579],[-0.454478,0.887799,-0.072544],[0.005869,0.084424,0.996413]]
2025-10-25T04:03:17.582Z,1761364997.582 [DAT](INFO): DAT read: TxSync time:04:03:16.8727

2025-10-25T04:03:17.590Z,1761364997.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:17.592Z,1761364997.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:17.595Z,1761364997.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 111.246719 m,
      bearing: 334.734398 deg,
      approach rate: -0.717044 m/s,
      LOS rate: 0.050804 deg/s,
      cmd heading: 332.961613 deg,
      new cmd heading: 333.036045 deg.

2025-10-25T04:03:17.605Z,1761364997.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812575 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:17.833Z,1761364997.833 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:17.833Z,1761364997.833 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:17.833Z,1761364997.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:18.022Z,1761364998.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888637,0.456540,-0.043542],[-0.458560,0.885948,-0.069422],[0.006882,0.081657,0.996637]]
2025-10-25T04:03:18.088Z,1761364998.088 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:18.088Z,1761364998.088 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:18.089Z,1761364998.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:18.107Z,1761364998.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:18.115Z,1761364998.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 110.940636 m,
      bearing: 334.756909 deg,
      approach rate: -0.593367 m/s,
      LOS rate: 0.043759 deg/s,
      cmd heading: 333.036035 deg,
      new cmd heading: 333.103753 deg.

2025-10-25T04:03:18.116Z,1761364998.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813757 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:18.338Z,1761364998.338 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:18.338Z,1761364998.338 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:18.338Z,1761364998.338 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:18.440Z,1761364998.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887769,0.458096,-0.044890],[-0.460223,0.885066,-0.069660],[0.007820,0.082502,0.996560]]
2025-10-25T04:03:18.492Z,1761364998.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:18.495Z,1761364998.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 110.663879 m,
      bearing: 334.782292 deg,
      approach rate: -0.722347 m/s,
      LOS rate: 0.066417 deg/s,
      cmd heading: 333.103763 deg,
      new cmd heading: 333.180103 deg.

2025-10-25T04:03:18.498Z,1761364998.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815090 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:18.589Z,1761364998.589 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:18.589Z,1761364998.589 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:18.590Z,1761364998.590 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:18.841Z,1761364998.841 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:18.841Z,1761364998.841 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:18.841Z,1761364998.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:18.947Z,1761364998.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886803,0.459721,-0.047294],[-0.462054,0.884024,-0.070757],[0.009281,0.084600,0.996372]]
2025-10-25T04:03:18.983Z,1761364998.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:18.986Z,1761364998.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 110.343140 m,
      bearing: 334.812207 deg,
      approach rate: -0.651369 m/s,
      LOS rate: 0.060928 deg/s,
      cmd heading: 333.180097 deg,
      new cmd heading: 333.270102 deg.

2025-10-25T04:03:18.987Z,1761364998.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816660 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:19.098Z,1761364999.098 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:19.098Z,1761364999.098 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:19.099Z,1761364999.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:19.346Z,1761364999.346 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:19.346Z,1761364999.346 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:19.346Z,1761364999.346 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:19.427Z,1761364999.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:19.442Z,1761364999.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 110.067917 m,
      bearing: 334.842290 deg,
      approach rate: -0.620125 m/s,
      LOS rate: 0.067952 deg/s,
      cmd heading: 333.270092 deg,
      new cmd heading: 333.360567 deg.

2025-10-25T04:03:19.443Z,1761364999.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818240 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:19.597Z,1761364999.597 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:19.597Z,1761364999.597 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:19.598Z,1761364999.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:19.753Z,1761364999.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886521,0.460044,-0.049402],[-0.462580,0.883565,-0.073024],[0.010056,0.087589,0.996106]]
2025-10-25T04:03:19.770Z,1761364999.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:19.772Z,1761364999.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:19.796Z,1761364999.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 109.836136 m,
      bearing: 334.867807 deg,
      approach rate: -0.671129 m/s,
      LOS rate: 0.074042 deg/s,
      cmd heading: 333.360578 deg,
      new cmd heading: 333.437291 deg.

2025-10-25T04:03:19.798Z,1761364999.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819579 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:19.850Z,1761364999.850 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:19.851Z,1761364999.851 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:19.851Z,1761364999.851 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:20.103Z,1761365000.103 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:20.104Z,1761365000.104 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:20.104Z,1761365000.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:20.156Z,1761365000.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886023,0.460837,-0.050923],[-0.463522,0.882930,-0.074705],[0.010535,0.089795,0.995905]]
2025-10-25T04:03:20.214Z,1761365000.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:20.217Z,1761365000.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 109.564857 m,
      bearing: 334.893482 deg,
      approach rate: -0.614226 m/s,
      LOS rate: 0.058276 deg/s,
      cmd heading: 333.437295 deg,
      new cmd heading: 333.514510 deg.

2025-10-25T04:03:20.218Z,1761365000.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820926 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:20.354Z,1761365000.354 [DAT](INFO): DAT read: Rx Time:04:03:19.4253

2025-10-25T04:03:20.354Z,1761365000.354 [DAT](INFO): Rx dataTimestamp_ set to:1761365000.353971
2025-10-25T04:03:20.355Z,1761365000.355 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:20.355Z,1761365000.355 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:20.355Z,1761365000.355 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:20.564Z,1761365000.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886014,0.460758,-0.051781],[-0.463531,0.882851,-0.075583],[0.010889,0.090970,0.995794]]
2025-10-25T04:03:20.596Z,1761365000.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:20.599Z,1761365000.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 109.329140 m,
      bearing: 334.915897 deg,
      approach rate: -0.618281 m/s,
      LOS rate: 0.058920 deg/s,
      cmd heading: 333.514504 deg,
      new cmd heading: 333.581893 deg.

2025-10-25T04:03:20.600Z,1761365000.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822103 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:20.606Z,1761365000.606 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:20.606Z,1761365000.606 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:20.606Z,1761365000.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:20.859Z,1761365000.859 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:20.860Z,1761365000.860 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:20.860Z,1761365000.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-10-25T04:03:20.966Z,1761365000.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885929,0.460761,-0.053180],[-0.463683,0.882614,-0.077401],[0.011274,0.093231,0.995581]]
2025-10-25T04:03:20.985Z,1761365000.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-10-25T04:03:20.988Z,1761365000.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457047 m,
      nav range: 109.089806 m,
      bearing: 334.938774 deg,
      approach rate: -0.613182 m/s,
      LOS rate: 0.058742 deg/s,
      cmd heading: 333.581904 deg,
      new cmd heading: 333.650687 deg.

2025-10-25T04:03:20.989Z,1761365000.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823303 target range: 114.457047 and range: 115.00 m.
2025-10-25T04:03:21.152Z,1761365001.152 [DAT](INFO): DAT read: 04:03:19.4253 LVL= 20512, 24465, 17906, 25075, AGC= 65, IDX= 403, 0.38,-0.632,-1.996,-0.680,-1.026, PHS= 0.482,-0.923, 0.343, RAW= 144.8,   1.5, CAL= 148.4,  -7.4, ROT=   1.6,   7.4

2025-10-25T04:03:21.158Z,1761365001.158 [DAT](INFO): got valid direction response:
 04:03:19.4253 LVL= 20512, 24465, 17906, 25075, AGC= 65, IDX= 403, 0.38,-0.632,-1.996,-0.680,-1.026, PHS= 0.482,-0.923, 0.343, RAW= 144.8,   1.5, CAL= 148.4,  -7.4, ROT=   1.6,   7.4

2025-10-25T04:03:21.159Z,1761365001.159 [DAT](INFO): DAT read: Bearing   1.6,   7.4 (Local)

2025-10-25T04:03:21.159Z,1761365001.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,   7.4 (Local)

2025-10-25T04:03:21.160Z,1761365001.160 [DAT](INFO): DAT read: Range 10 to 50 : 110.7 m  (Round-trip  147.6 ms) speed  0.5 m/s

2025-10-25T04:03:21.173Z,1761365001.173 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-25T04:03:21.174Z,1761365001.174 [DAT](INFO): direction in FSK: [0.991285,0.027689,-0.128796]
2025-10-25T04:03:21.174Z,1761365001.174 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:21.182Z,1761365001.182 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:21.183Z,1761365001.183 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:21.183Z,1761365001.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:21.362Z,1761365001.362 [DAT](INFO): DAT read: user:304>

2025-10-25T04:03:21.363Z,1761365001.363 [DAT](INFO): DAT read: Tx time:04:03:20.8736

2025-10-25T04:03:21.364Z,1761365001.364 [DAT](INFO): Ping request sent.
2025-10-25T04:03:21.364Z,1761365001.364 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:21.364Z,1761365001.364 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:21.365Z,1761365001.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001046
2025-10-25T04:03:21.372Z,1761365001.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886555,0.459330,-0.055093],[-0.462474,0.882980,-0.080401],[0.011716,0.096759,0.995239]]
2025-10-25T04:03:21.498Z,1761365001.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.699997 m,
      deltaT: 7.318240 s,
      deltaX: -4.300003 m,
      approachRate: -0.587573 m/s,
      rangeRepo size: 4

2025-10-25T04:03:21.500Z,1761365001.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.176605 m,
      bearing: 334.759813 deg,
      lat: 36.779457 deg,
      lon: -121.859742 deg,
      deltaT: 7.318240 s,
      deltaX: -4.280441 m,
      approachRate: -0.584900 m/s,
      posRepo size: 4

2025-10-25T04:03:21.505Z,1761365001.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:21.508Z,1761365001.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 109.072929 m,
      bearing: 334.664302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058742 deg/s,
      cmd heading: 333.650697 deg,
      new cmd heading: 333.740940 deg.

2025-10-25T04:03:21.521Z,1761365001.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824878 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:21.616Z,1761365001.616 [DAT](INFO): DAT read: TxSync time:04:03:20.8728

2025-10-25T04:03:21.617Z,1761365001.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253369
2025-10-25T04:03:21.802Z,1761365001.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886941,0.458371,-0.056855],[-0.461729,0.883084,-0.083477],[0.011944,0.100291,0.994886]]
2025-10-25T04:03:21.823Z,1761365001.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:21.841Z,1761365001.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:21.844Z,1761365001.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 108.860970 m,
      bearing: 334.678482 deg,
      approach rate: -0.616478 m/s,
      LOS rate: 0.041323 deg/s,
      cmd heading: 333.740938 deg,
      new cmd heading: 333.783562 deg.

2025-10-25T04:03:21.846Z,1761365001.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825622 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:21.870Z,1761365001.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505980
2025-10-25T04:03:22.125Z,1761365002.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760518
2025-10-25T04:03:22.200Z,1761365002.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887416,0.456649,-0.062973],[-0.460773,0.882712,-0.092236],[0.013468,0.110868,0.993744]]
2025-10-25T04:03:22.289Z,1761365002.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:22.294Z,1761365002.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 108.608429 m,
      bearing: 334.686807 deg,
      approach rate: -0.565370 m/s,
      LOS rate: 0.018681 deg/s,
      cmd heading: 333.783558 deg,
      new cmd heading: 333.808591 deg.

2025-10-25T04:03:22.296Z,1761365002.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826059 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:22.375Z,1761365002.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010872
2025-10-25T04:03:22.621Z,1761365002.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886759,0.457956,-0.062720],[-0.462026,0.882212,-0.090737],[0.013779,0.109440,0.993898]]
2025-10-25T04:03:22.626Z,1761365002.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262067
2025-10-25T04:03:22.686Z,1761365002.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:22.694Z,1761365002.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 108.410255 m,
      bearing: 334.693509 deg,
      approach rate: -0.498467 m/s,
      LOS rate: 0.016887 deg/s,
      cmd heading: 333.808584 deg,
      new cmd heading: 333.828725 deg.

2025-10-25T04:03:22.695Z,1761365002.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826410 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:22.878Z,1761365002.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513682
2025-10-25T04:03:23.008Z,1761365003.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887384,0.456667,-0.063290],[-0.460813,0.882796,-0.091231],[0.014210,0.110122,0.993816]]
2025-10-25T04:03:23.051Z,1761365003.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:23.054Z,1761365003.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 108.198311 m,
      bearing: 334.700553 deg,
      approach rate: -0.580147 m/s,
      LOS rate: 0.019320 deg/s,
      cmd heading: 333.828720 deg,
      new cmd heading: 333.849894 deg.

2025-10-25T04:03:23.055Z,1761365003.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826780 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:23.133Z,1761365003.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768438
2025-10-25T04:03:23.381Z,1761365003.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017636
2025-10-25T04:03:23.411Z,1761365003.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889186,0.453301,-0.062173],[-0.457351,0.884524,-0.091911],[0.013330,0.110161,0.993824]]
2025-10-25T04:03:23.467Z,1761365003.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:23.470Z,1761365003.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 107.974487 m,
      bearing: 334.694180 deg,
      approach rate: -0.537810 m/s,
      LOS rate: -0.015345 deg/s,
      cmd heading: 333.849893 deg,
      new cmd heading: 333.830735 deg.

2025-10-25T04:03:23.471Z,1761365003.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826446 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:23.634Z,1761365003.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269731
2025-10-25T04:03:23.834Z,1761365003.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892931,0.446024,-0.061127],[-0.450011,0.888165,-0.093023],[0.012800,0.110571,0.993786]]
2025-10-25T04:03:23.875Z,1761365003.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:23.882Z,1761365003.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:23.886Z,1761365003.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521834
2025-10-25T04:03:23.889Z,1761365003.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 107.767464 m,
      bearing: 334.687355 deg,
      approach rate: -0.499108 m/s,
      LOS rate: -0.016485 deg/s,
      cmd heading: 333.830741 deg,
      new cmd heading: 333.810228 deg.

2025-10-25T04:03:23.890Z,1761365003.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826087 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:24.141Z,1761365004.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776599
2025-10-25T04:03:24.275Z,1761365004.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:24.280Z,1761365004.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 107.571220 m,
      bearing: 334.671654 deg,
      approach rate: -0.498810 m/s,
      LOS rate: -0.039983 deg/s,
      cmd heading: 333.810223 deg,
      new cmd heading: 333.763033 deg.

2025-10-25T04:03:24.282Z,1761365004.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825264 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:24.390Z,1761365004.390 [DAT](INFO): DAT read: Rx Time:04:03:23.4223

2025-10-25T04:03:24.390Z,1761365004.390 [DAT](INFO): Rx dataTimestamp_ set to:1761365004.390025
2025-10-25T04:03:24.391Z,1761365004.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027034
2025-10-25T04:03:24.638Z,1761365004.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896299,0.439139,-0.061680],[-0.443258,0.891298,-0.095454],[0.013058,0.112895,0.993521]]
2025-10-25T04:03:24.642Z,1761365004.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277781
2025-10-25T04:03:24.674Z,1761365004.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.18 m.
2025-10-25T04:03:24.681Z,1761365004.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.176605 m,
      nav range: 107.384087 m,
      bearing: 334.655873 deg,
      approach rate: -0.468825 m/s,
      LOS rate: -0.039606 deg/s,
      cmd heading: 333.763040 deg,
      new cmd heading: 333.715614 deg.

2025-10-25T04:03:24.682Z,1761365004.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824436 target range: 110.176605 and range: 110.70 m.
2025-10-25T04:03:24.902Z,1761365004.902 [DAT](INFO): DAT read: 04:03:23.4223 LVL= 19888, 27089, 18578, 28387, AGC= 68, IDX= 405, 0.01,-2.596, 2.283,-2.627,-3.035, PHS= 0.527,-0.919, 0.405, RAW= 145.6,  -0.2, CAL= 149.4,  -9.2, ROT=   0.6,   9.2

2025-10-25T04:03:24.903Z,1761365004.903 [DAT](INFO): got valid direction response:
 04:03:23.4223 LVL= 19888, 27089, 18578, 28387, AGC= 68, IDX= 405, 0.01,-2.596, 2.283,-2.627,-3.035, PHS= 0.527,-0.919, 0.405, RAW= 145.6,  -0.2, CAL= 149.4,  -9.2, ROT=   0.6,   9.2

2025-10-25T04:03:24.905Z,1761365004.905 [DAT](INFO): DAT read: Bearing   0.6,   9.2 (Local)

2025-10-25T04:03:24.906Z,1761365004.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,   9.2 (Local)

2025-10-25T04:03:24.908Z,1761365004.908 [DAT](INFO): DAT read: Range 10 to 50 : 108.4 m  (Round-trip  144.6 ms) speed  0.4 m/s

2025-10-25T04:03:24.909Z,1761365004.909 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:24.909Z,1761365004.909 [DAT](INFO): direction in FSK: [0.987082,0.010337,-0.159881]
2025-10-25T04:03:24.910Z,1761365004.910 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:24.924Z,1761365004.924 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:24.924Z,1761365004.924 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:24.925Z,1761365004.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:25.034Z,1761365005.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897692,0.436299,-0.061584],[-0.440424,0.892687,-0.095587],[0.013271,0.112931,0.993514]]
2025-10-25T04:03:25.090Z,1761365005.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.400002 m,
      deltaT: 3.782933 s,
      deltaX: -2.299995 m,
      approachRate: -0.607993 m/s,
      rangeRepo size: 4

2025-10-25T04:03:25.092Z,1761365005.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.887436 m,
      bearing: 335.507120 deg,
      lat: 36.779459 deg,
      lon: -121.859736 deg,
      deltaT: 3.782933 s,
      deltaX: -2.289169 m,
      approachRate: -0.605131 m/s,
      posRepo size: 4

2025-10-25T04:03:25.092Z,1761365005.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:25.099Z,1761365005.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 107.187050 m,
      bearing: 335.003918 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039606 deg/s,
      cmd heading: 333.715612 deg,
      new cmd heading: 333.666857 deg.

2025-10-25T04:03:25.100Z,1761365005.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823585 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:25.149Z,1761365005.149 [DAT](INFO): DAT read: user:305>

2025-10-25T04:03:25.153Z,1761365005.153 [DAT](INFO): DAT read: Tx time:04:03:24.6236

2025-10-25T04:03:25.154Z,1761365005.154 [DAT](INFO): Ping request sent.
2025-10-25T04:03:25.154Z,1761365005.154 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:25.155Z,1761365005.155 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:25.164Z,1761365005.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.009614
2025-10-25T04:03:25.398Z,1761365005.398 [DAT](INFO): DAT read: TxSync time:04:03:24.6228

2025-10-25T04:03:25.399Z,1761365005.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245032
2025-10-25T04:03:25.442Z,1761365005.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898329,0.434974,-0.061664],[-0.439102,0.893439,-0.094635],[0.013929,0.112090,0.993600]]
2025-10-25T04:03:25.514Z,1761365005.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:25.521Z,1761365005.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 106.976707 m,
      bearing: 334.978715 deg,
      approach rate: -0.490366 m/s,
      LOS rate: -0.058871 deg/s,
      cmd heading: 333.666844 deg,
      new cmd heading: 333.591086 deg.

2025-10-25T04:03:25.522Z,1761365005.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822263 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:25.652Z,1761365005.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497861
2025-10-25T04:03:25.837Z,1761365005.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898655,0.434791,-0.058099],[-0.438393,0.894787,-0.084657],[0.015178,0.101548,0.994715]]
2025-10-25T04:03:25.856Z,1761365005.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:25.859Z,1761365005.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 106.809883 m,
      bearing: 334.958520 deg,
      approach rate: -0.487552 m/s,
      LOS rate: -0.059111 deg/s,
      cmd heading: 333.591084 deg,
      new cmd heading: 333.530406 deg.

2025-10-25T04:03:25.860Z,1761365005.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821204 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:25.902Z,1761365005.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747909
2025-10-25T04:03:26.157Z,1761365006.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002212
2025-10-25T04:03:26.342Z,1761365006.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:26.344Z,1761365006.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:26.348Z,1761365006.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 106.569183 m,
      bearing: 334.931400 deg,
      approach rate: -0.492970 m/s,
      LOS rate: -0.055670 deg/s,
      cmd heading: 333.530404 deg,
      new cmd heading: 333.448860 deg.

2025-10-25T04:03:26.349Z,1761365006.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819780 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:26.406Z,1761365006.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252339
2025-10-25T04:03:26.659Z,1761365006.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505044
2025-10-25T04:03:26.682Z,1761365006.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899411,0.433416,-0.056653],[-0.436822,0.895898,-0.080950],[0.015671,0.097555,0.995107]]
2025-10-25T04:03:26.714Z,1761365006.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:26.717Z,1761365006.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 106.387009 m,
      bearing: 334.910605 deg,
      approach rate: -0.492556 m/s,
      LOS rate: -0.056321 deg/s,
      cmd heading: 333.448852 deg,
      new cmd heading: 333.386360 deg.

2025-10-25T04:03:26.718Z,1761365006.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818690 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:26.910Z,1761365006.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756002
2025-10-25T04:03:27.090Z,1761365007.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900312,0.431882,-0.054001],[-0.435003,0.896997,-0.078548],[0.014515,0.094208,0.995447]]
2025-10-25T04:03:27.124Z,1761365007.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:27.131Z,1761365007.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 106.191933 m,
      bearing: 334.888028 deg,
      approach rate: -0.475584 m/s,
      LOS rate: -0.055141 deg/s,
      cmd heading: 333.386369 deg,
      new cmd heading: 333.318516 deg.

2025-10-25T04:03:27.137Z,1761365007.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817505 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:27.163Z,1761365007.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009356
2025-10-25T04:03:27.414Z,1761365007.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259901
2025-10-25T04:03:27.499Z,1761365007.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901153,0.430409,-0.051678],[-0.433300,0.897938,-0.077190],[0.013180,0.091952,0.995676]]
2025-10-25T04:03:27.554Z,1761365007.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:27.556Z,1761365007.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 105.962303 m,
      bearing: 334.869305 deg,
      approach rate: -0.556580 m/s,
      LOS rate: -0.045482 deg/s,
      cmd heading: 333.318504 deg,
      new cmd heading: 333.262211 deg.

2025-10-25T04:03:27.558Z,1761365007.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816523 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:27.666Z,1761365007.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512377
2025-10-25T04:03:27.918Z,1761365007.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763820
2025-10-25T04:03:27.933Z,1761365007.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:27.936Z,1761365007.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 105.750458 m,
      bearing: 334.851958 deg,
      approach rate: -0.535426 m/s,
      LOS rate: -0.043929 deg/s,
      cmd heading: 333.262224 deg,
      new cmd heading: 333.210081 deg.

2025-10-25T04:03:27.937Z,1761365007.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815613 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:28.172Z,1761365008.172 [DAT](INFO): DAT read: Rx Time:04:03:27.1700

2025-10-25T04:03:28.173Z,1761365008.173 [DAT](INFO): Rx dataTimestamp_ set to:1761365008.172667
2025-10-25T04:03:28.173Z,1761365008.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019765
2025-10-25T04:03:28.317Z,1761365008.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901185,0.430654,-0.049026],[-0.433283,0.898089,-0.075509],[0.011511,0.089289,0.995939]]
2025-10-25T04:03:28.391Z,1761365008.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:28.397Z,1761365008.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.89 m.
2025-10-25T04:03:28.400Z,1761365008.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.887436 m,
      nav range: 105.497925 m,
      bearing: 334.841054 deg,
      approach rate: -0.548546 m/s,
      LOS rate: -0.023743 deg/s,
      cmd heading: 333.210068 deg,
      new cmd heading: 333.177277 deg.

2025-10-25T04:03:28.405Z,1761365008.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815041 target range: 107.887436 and range: 108.40 m.
2025-10-25T04:03:28.422Z,1761365008.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267772
2025-10-25T04:03:28.683Z,1761365008.683 [DAT](INFO): DAT read: 04:03:27.1700 LVL= 19824, 28881, 18706, 28659, AGC= 68, IDX= 413,-0.34, 1.824, 0.414, 1.833, 1.411, PHS= 0.501,-0.950, 0.419, RAW= 147.1,   0.4, CAL= 150.6,  -8.5, ROT= 359.4,   8.5

2025-10-25T04:03:28.693Z,1761365008.693 [DAT](INFO): got valid direction response:
 04:03:27.1700 LVL= 19824, 28881, 18706, 28659, AGC= 68, IDX= 413,-0.34, 1.824, 0.414, 1.833, 1.411, PHS= 0.501,-0.950, 0.419, RAW= 147.1,   0.4, CAL= 150.6,  -8.5, ROT= 359.4,   8.5

2025-10-25T04:03:28.694Z,1761365008.694 [DAT](INFO): DAT read: Bearing 359.4,   8.5 (Local)

2025-10-25T04:03:28.695Z,1761365008.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,   8.5 (Local)

2025-10-25T04:03:28.696Z,1761365008.696 [DAT](INFO): DAT read: Range 10 to 50 : 106.6 m  (Round-trip  142.2 ms) speed  0.4 m/s

2025-10-25T04:03:28.702Z,1761365008.702 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:28.703Z,1761365008.703 [DAT](INFO): direction in FSK: [0.988962,-0.010357,-0.147809]
2025-10-25T04:03:28.703Z,1761365008.703 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:28.733Z,1761365008.733 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:28.733Z,1761365008.733 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:28.733Z,1761365008.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:28.768Z,1761365008.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900377,0.432429,-0.048240],[-0.434969,0.897366,-0.074403],[0.011115,0.087974,0.996061]]
2025-10-25T04:03:28.863Z,1761365008.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.599998 m,
      deltaT: 3.780777 s,
      deltaX: -1.800003 m,
      approachRate: -0.476093 m/s,
      rangeRepo size: 4

2025-10-25T04:03:28.874Z,1761365008.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.094345 m,
      bearing: 334.370397 deg,
      lat: 36.779459 deg,
      lon: -121.859742 deg,
      deltaT: 3.780777 s,
      deltaX: -1.793091 m,
      approachRate: -0.474265 m/s,
      posRepo size: 4

2025-10-25T04:03:28.874Z,1761365008.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:28.885Z,1761365008.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 105.520805 m,
      bearing: 334.527219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023743 deg/s,
      cmd heading: 333.177283 deg,
      new cmd heading: 333.143898 deg.

2025-10-25T04:03:28.886Z,1761365008.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814458 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:28.925Z,1761365008.925 [DAT](INFO): DAT read: user:306>

2025-10-25T04:03:28.926Z,1761365008.926 [DAT](INFO): DAT read: Tx time:04:03:28.4236

2025-10-25T04:03:28.927Z,1761365008.927 [DAT](INFO): Ping request sent.
2025-10-25T04:03:28.927Z,1761365008.927 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:28.927Z,1761365008.927 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:28.927Z,1761365008.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-10-25T04:03:29.178Z,1761365009.178 [DAT](INFO): DAT read: TxSync time:04:03:28.4228

2025-10-25T04:03:29.179Z,1761365009.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252348
2025-10-25T04:03:29.197Z,1761365009.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899218,0.434894,-0.047697],[-0.437367,0.896284,-0.073384],[0.010836,0.086849,0.996163]]
2025-10-25T04:03:29.339Z,1761365009.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:29.350Z,1761365009.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 105.244469 m,
      bearing: 334.515100 deg,
      approach rate: -0.579093 m/s,
      LOS rate: -0.025463 deg/s,
      cmd heading: 333.143897 deg,
      new cmd heading: 333.107446 deg.

2025-10-25T04:03:29.361Z,1761365009.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813822 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:29.431Z,1761365009.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504807
2025-10-25T04:03:29.647Z,1761365009.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897385,0.438641,-0.047910],[-0.441090,0.894673,-0.070710],[0.011847,0.084586,0.996346]]
2025-10-25T04:03:29.682Z,1761365009.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754966
2025-10-25T04:03:29.703Z,1761365009.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:29.706Z,1761365009.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 105.015434 m,
      bearing: 334.518516 deg,
      approach rate: -0.628597 m/s,
      LOS rate: 0.009394 deg/s,
      cmd heading: 333.107452 deg,
      new cmd heading: 333.117720 deg.

2025-10-25T04:03:29.707Z,1761365009.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814001 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:29.934Z,1761365009.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007543
2025-10-25T04:03:30.048Z,1761365010.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896462,0.440412,-0.048932],[-0.442932,0.893831,-0.069846],[0.012976,0.084287,0.996357]]
2025-10-25T04:03:30.069Z,1761365010.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:30.071Z,1761365010.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 104.794334 m,
      bearing: 334.522078 deg,
      approach rate: -0.604941 m/s,
      LOS rate: 0.009767 deg/s,
      cmd heading: 333.117724 deg,
      new cmd heading: 333.128434 deg.

2025-10-25T04:03:30.072Z,1761365010.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814188 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:30.187Z,1761365010.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260262
2025-10-25T04:03:30.438Z,1761365010.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859
2025-10-25T04:03:30.459Z,1761365010.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894238,0.444798,-0.049930],[-0.447380,0.891666,-0.069158],[0.013759,0.084181,0.996355]]
2025-10-25T04:03:30.515Z,1761365010.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:30.521Z,1761365010.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:30.524Z,1761365010.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 104.521744 m,
      bearing: 334.535043 deg,
      approach rate: -0.608270 m/s,
      LOS rate: 0.029006 deg/s,
      cmd heading: 333.128434 deg,
      new cmd heading: 333.167431 deg.

2025-10-25T04:03:30.529Z,1761365010.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814868 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:30.690Z,1761365010.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762895
2025-10-25T04:03:30.856Z,1761365010.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893846,0.445608,-0.049731],[-0.448177,0.891232,-0.069593],[0.013311,0.084493,0.996335]]
2025-10-25T04:03:30.879Z,1761365010.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:30.898Z,1761365010.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 104.282372 m,
      bearing: 334.546601 deg,
      approach rate: -0.661595 m/s,
      LOS rate: 0.032017 deg/s,
      cmd heading: 333.167421 deg,
      new cmd heading: 333.202173 deg.

2025-10-25T04:03:30.899Z,1761365010.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815475 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:30.942Z,1761365010.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015152
2025-10-25T04:03:31.193Z,1761365011.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266831
2025-10-25T04:03:31.307Z,1761365011.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893157,0.446996,-0.049652],[-0.449559,0.890510,-0.069919],[0.012962,0.084770,0.996316]]
2025-10-25T04:03:31.361Z,1761365011.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:31.365Z,1761365011.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 103.973282 m,
      bearing: 334.566805 deg,
      approach rate: -0.641341 m/s,
      LOS rate: 0.042047 deg/s,
      cmd heading: 333.202173 deg,
      new cmd heading: 333.262965 deg.

2025-10-25T04:03:31.366Z,1761365011.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816536 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:31.447Z,1761365011.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519846
2025-10-25T04:03:31.700Z,1761365011.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772637
2025-10-25T04:03:31.741Z,1761365011.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:31.743Z,1761365011.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 103.729622 m,
      bearing: 334.582818 deg,
      approach rate: -0.640792 m/s,
      LOS rate: 0.042211 deg/s,
      cmd heading: 333.262961 deg,
      new cmd heading: 333.311113 deg.

2025-10-25T04:03:31.745Z,1761365011.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817376 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:31.950Z,1761365011.950 [DAT](INFO): DAT read: Rx Time:04:03:30.9670

2025-10-25T04:03:31.951Z,1761365011.951 [DAT](INFO): Rx dataTimestamp_ set to:1761365011.950550
2025-10-25T04:03:31.952Z,1761365011.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025104
2025-10-25T04:03:32.069Z,1761365012.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891667,0.449781,-0.051253],[-0.452511,0.888777,-0.072860],[0.012781,0.088159,0.996024]]
2025-10-25T04:03:32.089Z,1761365012.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.09 m.
2025-10-25T04:03:32.091Z,1761365012.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.094345 m,
      nav range: 103.508171 m,
      bearing: 334.597838 deg,
      approach rate: -0.636812 m/s,
      LOS rate: 0.043284 deg/s,
      cmd heading: 333.311100 deg,
      new cmd heading: 333.356257 deg.

2025-10-25T04:03:32.092Z,1761365012.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818164 target range: 106.094345 and range: 106.60 m.
2025-10-25T04:03:32.202Z,1761365012.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274866
2025-10-25T04:03:32.466Z,1761365012.466 [DAT](INFO): DAT read: 04:03:30.9670 LVL= 19856, 23697, 17346, 25571, AGC= 68, IDX= 414,-0.06,-2.909, 1.970,-2.933, 2.974, PHS= 0.488,-0.957, 0.373, RAW= 145.9,   1.4, CAL= 149.3,  -7.5, ROT=   0.7,   7.5

2025-10-25T04:03:32.467Z,1761365012.467 [DAT](INFO): got valid direction response:
 04:03:30.9670 LVL= 19856, 23697, 17346, 25571, AGC= 68, IDX= 414,-0.06,-2.909, 1.970,-2.933, 2.974, PHS= 0.488,-0.957, 0.373, RAW= 145.9,   1.4, CAL= 149.3,  -7.5, ROT=   0.7,   7.5

2025-10-25T04:03:32.468Z,1761365012.468 [DAT](INFO): DAT read: Bearing   0.7,   7.5 (Local)

2025-10-25T04:03:32.468Z,1761365012.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   7.5 (Local)

2025-10-25T04:03:32.474Z,1761365012.474 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m  (Round-trip  139.2 ms) speed  0.7 m/s

2025-10-25T04:03:32.474Z,1761365012.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:32.475Z,1761365012.475 [DAT](INFO): direction in FSK: [0.991371,0.012112,-0.130526]
2025-10-25T04:03:32.476Z,1761365012.476 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:32.483Z,1761365012.483 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:32.483Z,1761365012.483 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:32.484Z,1761365012.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:32.489Z,1761365012.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891603,0.449843,-0.051821],[-0.452636,0.888637,-0.073791],[0.012856,0.089248,0.995926]]
2025-10-25T04:03:32.531Z,1761365012.531 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,251024205.0, +11.9,   0.0,1496.6,  0
2025-10-25T04:03:32.616Z,1761365012.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.400002 m,
      deltaT: 3.778334 s,
      deltaX: -2.199997 m,
      approachRate: -0.582266 m/s,
      rangeRepo size: 4

2025-10-25T04:03:32.622Z,1761365012.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.904190 m,
      bearing: 334.452791 deg,
      lat: 36.779458 deg,
      lon: -121.859743 deg,
      deltaT: 3.778334 s,
      deltaX: -2.190155 m,
      approachRate: -0.579662 m/s,
      posRepo size: 4

2025-10-25T04:03:32.625Z,1761365012.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:32.627Z,1761365012.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 103.114807 m,
      bearing: 334.552981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043284 deg/s,
      cmd heading: 333.356262 deg,
      new cmd heading: 333.424654 deg.

2025-10-25T04:03:32.629Z,1761365012.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819358 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:32.706Z,1761365012.706 [DAT](INFO): DAT read: user:307>

2025-10-25T04:03:32.706Z,1761365012.706 [DAT](INFO): DAT read: Tx time:04:03:32.1737

2025-10-25T04:03:32.707Z,1761365012.707 [DAT](INFO): Ping request sent.
2025-10-25T04:03:32.707Z,1761365012.707 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:32.707Z,1761365012.707 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:32.707Z,1761365012.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-25T04:03:32.958Z,1761365012.958 [DAT](INFO): DAT read: TxSync time:04:03:32.1729

2025-10-25T04:03:32.959Z,1761365012.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251782
2025-10-25T04:03:32.970Z,1761365012.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:32.974Z,1761365012.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:32.977Z,1761365012.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 102.869812 m,
      bearing: 334.569644 deg,
      approach rate: -0.681773 m/s,
      LOS rate: 0.046481 deg/s,
      cmd heading: 333.424646 deg,
      new cmd heading: 333.474754 deg.

2025-10-25T04:03:32.979Z,1761365012.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820232 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:33.210Z,1761365013.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503037
2025-10-25T04:03:33.393Z,1761365013.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:33.397Z,1761365013.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 102.617729 m,
      bearing: 334.583874 deg,
      approach rate: -0.602814 m/s,
      LOS rate: 0.034112 deg/s,
      cmd heading: 333.474752 deg,
      new cmd heading: 333.517546 deg.

2025-10-25T04:03:33.398Z,1761365013.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820979 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:33.464Z,1761365013.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756445
2025-10-25T04:03:33.711Z,1761365013.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891618,0.449849,-0.051518],[-0.452575,0.888910,-0.070823],[0.013935,0.086463,0.996158]]
2025-10-25T04:03:33.714Z,1761365013.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855
2025-10-25T04:03:33.730Z,1761365013.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:33.737Z,1761365013.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 102.419258 m,
      bearing: 334.595115 deg,
      approach rate: -0.588062 m/s,
      LOS rate: 0.033371 deg/s,
      cmd heading: 333.517536 deg,
      new cmd heading: 333.551324 deg.

2025-10-25T04:03:33.738Z,1761365013.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821569 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:33.967Z,1761365013.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260531
2025-10-25T04:03:34.103Z,1761365014.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892509,0.447958,-0.052546],[-0.450826,0.889535,-0.074053],[0.013568,0.089782,0.995869]]
2025-10-25T04:03:34.123Z,1761365014.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:34.126Z,1761365014.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 102.188904 m,
      bearing: 334.607968 deg,
      approach rate: -0.586119 m/s,
      LOS rate: 0.032778 deg/s,
      cmd heading: 333.551332 deg,
      new cmd heading: 333.589978 deg.

2025-10-25T04:03:34.127Z,1761365014.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822244 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:34.219Z,1761365014.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511758
2025-10-25T04:03:34.469Z,1761365014.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762691
2025-10-25T04:03:34.503Z,1761365014.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893666,0.445675,-0.052293],[-0.448570,0.890388,-0.077417],[0.012058,0.092643,0.995626]]
2025-10-25T04:03:34.551Z,1761365014.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:34.554Z,1761365014.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 101.952530 m,
      bearing: 334.611077 deg,
      approach rate: -0.552023 m/s,
      LOS rate: 0.007278 deg/s,
      cmd heading: 333.589991 deg,
      new cmd heading: 333.599340 deg.

2025-10-25T04:03:34.555Z,1761365014.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822407 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:34.722Z,1761365014.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015004
2025-10-25T04:03:34.906Z,1761365014.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894827,0.443332,-0.052355],[-0.446277,0.891275,-0.080413],[0.011013,0.095321,0.995386]]
2025-10-25T04:03:34.926Z,1761365014.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:34.929Z,1761365014.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 101.744431 m,
      bearing: 334.613536 deg,
      approach rate: -0.555834 m/s,
      LOS rate: 0.006581 deg/s,
      cmd heading: 333.599334 deg,
      new cmd heading: 333.606726 deg.

2025-10-25T04:03:34.931Z,1761365014.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822536 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:34.974Z,1761365014.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267112
2025-10-25T04:03:35.225Z,1761365015.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518693
2025-10-25T04:03:35.362Z,1761365015.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895963,0.441032,-0.052360],[-0.444012,0.892188,-0.082788],[0.010203,0.097424,0.995191]]
2025-10-25T04:03:35.425Z,1761365015.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:35.427Z,1761365015.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:35.433Z,1761365015.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 101.480629 m,
      bearing: 334.604505 deg,
      approach rate: -0.526490 m/s,
      LOS rate: -0.018071 deg/s,
      cmd heading: 333.606738 deg,
      new cmd heading: 333.579575 deg.

2025-10-25T04:03:35.434Z,1761365015.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822062 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:35.478Z,1761365015.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871
2025-10-25T04:03:35.711Z,1761365015.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897341,0.438280,-0.051850],[-0.441230,0.893492,-0.083594],[0.009690,0.097890,0.995150]]
2025-10-25T04:03:35.731Z,1761365015.731 [DAT](INFO): DAT read: Rx Time:04:03:34.7141

2025-10-25T04:03:35.731Z,1761365015.731 [DAT](INFO): Rx dataTimestamp_ set to:1761365015.731065
2025-10-25T04:03:35.733Z,1761365015.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025547
2025-10-25T04:03:35.771Z,1761365015.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:35.782Z,1761365015.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 101.301163 m,
      bearing: 334.598020 deg,
      approach rate: -0.523506 m/s,
      LOS rate: -0.018950 deg/s,
      cmd heading: 333.579582 deg,
      new cmd heading: 333.560092 deg.

2025-10-25T04:03:35.783Z,1761365015.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821722 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:35.982Z,1761365015.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275293
2025-10-25T04:03:36.117Z,1761365016.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898542,0.435860,-0.051457],[-0.438785,0.894672,-0.083841],[0.009495,0.097913,0.995150]]
2025-10-25T04:03:36.196Z,1761365016.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.90 m.
2025-10-25T04:03:36.209Z,1761365016.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.904190 m,
      nav range: 101.092033 m,
      bearing: 334.590110 deg,
      approach rate: -0.492035 m/s,
      LOS rate: -0.018649 deg/s,
      cmd heading: 333.560102 deg,
      new cmd heading: 333.536322 deg.

2025-10-25T04:03:36.211Z,1761365016.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821307 target range: 103.904190 and range: 104.40 m.
2025-10-25T04:03:36.241Z,1761365016.241 [DAT](INFO): DAT read: 04:03:34.7141 LVL= 19696, 25809, 17874, 28227, AGC= 66, IDX= 416,-0.11, 0.465,-0.854, 0.452, 0.102, PHS= 0.451,-0.909, 0.347, RAW= 146.1,   1.7, CAL= 149.3,  -7.1, ROT=   0.7,   7.1

2025-10-25T04:03:36.242Z,1761365016.242 [DAT](INFO): got valid direction response:
 04:03:34.7141 LVL= 19696, 25809, 17874, 28227, AGC= 66, IDX= 416,-0.11, 0.465,-0.854, 0.452, 0.102, PHS= 0.451,-0.909, 0.347, RAW= 146.1,   1.7, CAL= 149.3,  -7.1, ROT=   0.7,   7.1

2025-10-25T04:03:36.243Z,1761365016.243 [DAT](INFO): DAT read: Bearing   0.7,   7.1 (Local)

2025-10-25T04:03:36.244Z,1761365016.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   7.1 (Local)

2025-10-25T04:03:36.246Z,1761365016.246 [DAT](INFO): DAT read: Range 10 to 50 : 102.2 m  (Round-trip  136.3 ms) speed  0.4 m/s

2025-10-25T04:03:36.247Z,1761365016.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:36.248Z,1761365016.248 [DAT](INFO): direction in FSK: [0.992258,0.012123,-0.123601]
2025-10-25T04:03:36.248Z,1761365016.248 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:36.251Z,1761365016.251 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:36.252Z,1761365016.252 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:36.252Z,1761365016.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:36.487Z,1761365016.487 [DAT](INFO): DAT read: user:308>

2025-10-25T04:03:36.488Z,1761365016.488 [DAT](INFO): DAT read: Tx time:04:03:35.9737

2025-10-25T04:03:36.488Z,1761365016.488 [DAT](INFO): Ping request sent.
2025-10-25T04:03:36.488Z,1761365016.488 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:36.488Z,1761365016.488 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:36.489Z,1761365016.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000885
2025-10-25T04:03:36.637Z,1761365016.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.199997 m,
      deltaT: 3.779902 s,
      deltaX: -2.200005 m,
      approachRate: -0.582027 m/s,
      rangeRepo size: 4

2025-10-25T04:03:36.654Z,1761365016.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.715294 m,
      bearing: 335.366053 deg,
      lat: 36.779459 deg,
      lon: -121.859742 deg,
      deltaT: 3.779902 s,
      deltaX: -2.188896 m,
      approachRate: -0.579088 m/s,
      posRepo size: 4

2025-10-25T04:03:36.655Z,1761365016.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:36.664Z,1761365016.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 100.935371 m,
      bearing: 334.639721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018649 deg/s,
      cmd heading: 333.536333 deg,
      new cmd heading: 333.511858 deg.

2025-10-25T04:03:36.669Z,1761365016.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820880 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:36.693Z,1761365016.693 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:03:36.740Z,1761365016.740 [DAT](INFO): DAT read: TxSync time:04:03:35.9729

2025-10-25T04:03:36.741Z,1761365016.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253123
2025-10-25T04:03:36.936Z,1761365016.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899605,0.433573,-0.052207],[-0.436593,0.895630,-0.085054],[0.009881,0.099308,0.995008]]
2025-10-25T04:03:36.975Z,1761365016.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:36.979Z,1761365016.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 100.756401 m,
      bearing: 334.625634 deg,
      approach rate: -0.521576 m/s,
      LOS rate: -0.041127 deg/s,
      cmd heading: 333.511853 deg,
      new cmd heading: 333.469517 deg.

2025-10-25T04:03:36.985Z,1761365016.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820141 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:36.990Z,1761365016.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501469
2025-10-25T04:03:37.243Z,1761365017.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754570
2025-10-25T04:03:37.438Z,1761365017.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:37.440Z,1761365017.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:37.470Z,1761365017.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 100.506126 m,
      bearing: 334.604044 deg,
      approach rate: -0.538818 m/s,
      LOS rate: -0.046599 deg/s,
      cmd heading: 333.469506 deg,
      new cmd heading: 333.404573 deg.

2025-10-25T04:03:37.479Z,1761365017.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819007 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:37.494Z,1761365017.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005577
2025-10-25T04:03:37.700Z,1761365017.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:03:37.746Z,1761365017.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258071
2025-10-25T04:03:37.763Z,1761365017.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899868,0.433220,-0.050580],[-0.436055,0.896153,-0.082259],[0.009691,0.096078,0.995327]]
2025-10-25T04:03:37.797Z,1761365017.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:37.803Z,1761365017.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 100.321632 m,
      bearing: 334.587983 deg,
      approach rate: -0.517309 m/s,
      LOS rate: -0.045116 deg/s,
      cmd heading: 333.404565 deg,
      new cmd heading: 333.356294 deg.

2025-10-25T04:03:37.804Z,1761365017.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818165 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:37.998Z,1761365017.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509775
2025-10-25T04:03:38.158Z,1761365018.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900388,0.432140,-0.050560],[-0.435001,0.896430,-0.084782],[0.008685,0.098330,0.995116]]
2025-10-25T04:03:38.178Z,1761365018.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:38.182Z,1761365018.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 100.125259 m,
      bearing: 334.570696 deg,
      approach rate: -0.514734 m/s,
      LOS rate: -0.045401 deg/s,
      cmd heading: 333.356289 deg,
      new cmd heading: 333.304327 deg.

2025-10-25T04:03:38.183Z,1761365018.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817258 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:38.252Z,1761365018.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763531
2025-10-25T04:03:38.502Z,1761365018.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013336
2025-10-25T04:03:38.561Z,1761365018.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900728,0.431545,-0.049575],[-0.434320,0.896657,-0.085862],[0.007398,0.098870,0.995073]]
2025-10-25T04:03:38.619Z,1761365018.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:38.622Z,1761365018.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 99.890381 m,
      bearing: 334.550052 deg,
      approach rate: -0.531939 m/s,
      LOS rate: -0.046865 deg/s,
      cmd heading: 333.304325 deg,
      new cmd heading: 333.242246 deg.

2025-10-25T04:03:38.623Z,1761365018.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816175 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:38.754Z,1761365018.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265355
2025-10-25T04:03:38.964Z,1761365018.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900807,0.431599,-0.047630],[-0.434177,0.896823,-0.084847],[0.006096,0.097111,0.995255]]
2025-10-25T04:03:38.995Z,1761365018.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:39.002Z,1761365019.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 99.696335 m,
      bearing: 334.532900 deg,
      approach rate: -0.517332 m/s,
      LOS rate: -0.045814 deg/s,
      cmd heading: 333.242252 deg,
      new cmd heading: 333.190699 deg.

2025-10-25T04:03:39.003Z,1761365019.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815275 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:39.006Z,1761365019.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517433
2025-10-25T04:03:39.258Z,1761365019.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769424
2025-10-25T04:03:39.425Z,1761365019.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900581,0.432325,-0.045267],[-0.434660,0.896819,-0.082377],[0.004983,0.093862,0.995573]]
2025-10-25T04:03:39.483Z,1761365019.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:39.489Z,1761365019.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:39.492Z,1761365019.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 99.438019 m,
      bearing: 334.513294 deg,
      approach rate: -0.526896 m/s,
      LOS rate: -0.040095 deg/s,
      cmd heading: 333.190698 deg,
      new cmd heading: 333.131727 deg.

2025-10-25T04:03:39.497Z,1761365019.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814246 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:39.510Z,1761365019.510 [DAT](INFO): DAT read: Rx Time:04:03:38.5114

2025-10-25T04:03:39.510Z,1761365019.510 [DAT](INFO): Rx dataTimestamp_ set to:1761365019.509792
2025-10-25T04:03:39.511Z,1761365019.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022439
2025-10-25T04:03:39.762Z,1761365019.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274002
2025-10-25T04:03:39.802Z,1761365019.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899850,0.434130,-0.042443],[-0.436183,0.896399,-0.078827],[0.003825,0.089445,0.995984]]
2025-10-25T04:03:39.830Z,1761365019.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.72 m.
2025-10-25T04:03:39.843Z,1761365019.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.715294 m,
      nav range: 99.241806 m,
      bearing: 334.498529 deg,
      approach rate: -0.568749 m/s,
      LOS rate: -0.042883 deg/s,
      cmd heading: 333.131740 deg,
      new cmd heading: 333.087357 deg.

2025-10-25T04:03:39.844Z,1761365019.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813471 target range: 101.715294 and range: 102.20 m.
2025-10-25T04:03:40.020Z,1761365020.020 [DAT](INFO): DAT read: 04:03:38.5114 LVL= 22128, 28209, 19890, 27635, AGC= 67, IDX= 420,-0.12, 2.756, 1.393, 2.767, 2.404, PHS= 0.440,-0.964, 0.360, RAW= 147.1,   2.4, CAL= 150.0,  -6.4, ROT= 360.0,   6.4

2025-10-25T04:03:40.021Z,1761365020.021 [DAT](INFO): got valid direction response:
 04:03:38.5114 LVL= 22128, 28209, 19890, 27635, AGC= 67, IDX= 420,-0.12, 2.756, 1.393, 2.767, 2.404, PHS= 0.440,-0.964, 0.360, RAW= 147.1,   2.4, CAL= 150.0,  -6.4, ROT= 360.0,   6.4

2025-10-25T04:03:40.022Z,1761365020.022 [DAT](INFO): DAT read: Bearing 360.0,   6.4 (Local)

2025-10-25T04:03:40.022Z,1761365020.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,   6.4 (Local)

2025-10-25T04:03:40.024Z,1761365020.024 [DAT](INFO): DAT read: Range 10 to 50 : 100.1 m  (Round-trip  133.5 ms) speed  0.5 m/s

2025-10-25T04:03:40.025Z,1761365020.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:40.026Z,1761365020.026 [DAT](INFO): direction in FSK: [0.993768,0.000000,-0.111469]
2025-10-25T04:03:40.026Z,1761365020.026 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:40.030Z,1761365020.030 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:40.030Z,1761365020.030 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:40.030Z,1761365020.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:40.184Z,1761365020.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899009,0.436118,-0.039801],[-0.437919,0.895924,-0.074484],[0.003175,0.084392,0.996428]]
2025-10-25T04:03:40.223Z,1761365020.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.099998 m,
      deltaT: 3.780958 s,
      deltaX: -2.099998 m,
      approachRate: -0.555414 m/s,
      rangeRepo size: 4

2025-10-25T04:03:40.225Z,1761365020.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.624146 m,
      bearing: 334.570850 deg,
      lat: 36.779459 deg,
      lon: -121.859741 deg,
      deltaT: 3.780958 s,
      deltaX: -2.091148 m,
      approachRate: -0.553074 m/s,
      posRepo size: 4

2025-10-25T04:03:40.226Z,1761365020.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:40.230Z,1761365020.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 98.976151 m,
      bearing: 334.552914 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042883 deg/s,
      cmd heading: 333.087371 deg,
      new cmd heading: 333.036841 deg.

2025-10-25T04:03:40.231Z,1761365020.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812590 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:40.266Z,1761365020.266 [DAT](INFO): DAT read: user:309>

2025-10-25T04:03:40.267Z,1761365020.267 [DAT](INFO): DAT read: Tx time:04:03:39.7252

2025-10-25T04:03:40.268Z,1761365020.268 [DAT](INFO): Ping request sent.
2025-10-25T04:03:40.268Z,1761365020.268 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:40.268Z,1761365020.268 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:40.269Z,1761365020.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001217
2025-10-25T04:03:40.518Z,1761365020.518 [DAT](INFO): DAT read: TxSync time:04:03:39.7245

2025-10-25T04:03:40.519Z,1761365020.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250878
2025-10-25T04:03:40.637Z,1761365020.637 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-25T04:03:40.637Z,1761365020.637 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-25T04:03:40.637Z,1761365020.637 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-25T04:03:40.659Z,1761365020.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:40.664Z,1761365020.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 98.739067 m,
      bearing: 334.535351 deg,
      approach rate: -0.542612 m/s,
      LOS rate: -0.040293 deg/s,
      cmd heading: 333.036855 deg,
      new cmd heading: 332.984040 deg.

2025-10-25T04:03:40.665Z,1761365020.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811668 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:40.770Z,1761365020.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502057
2025-10-25T04:03:40.942Z,1761365020.942 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-25T04:03:41.002Z,1761365021.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895206,0.444297,-0.034728],[-0.445634,0.893143,-0.060867],[0.003974,0.069964,0.997542]]
2025-10-25T04:03:41.015Z,1761365021.015 [RDI_Pathfinder](INFO): Powering down
2025-10-25T04:03:41.022Z,1761365021.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753963
2025-10-25T04:03:41.032Z,1761365021.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:41.035Z,1761365021.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 98.539314 m,
      bearing: 334.521509 deg,
      approach rate: -0.535928 m/s,
      LOS rate: -0.037212 deg/s,
      cmd heading: 332.984044 deg,
      new cmd heading: 332.942434 deg.

2025-10-25T04:03:41.036Z,1761365021.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810942 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:41.274Z,1761365021.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006388
2025-10-25T04:03:41.398Z,1761365021.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894684,0.445307,-0.035255],[-0.446676,0.892663,-0.060278],[0.004629,0.069677,0.997559]]
2025-10-25T04:03:41.418Z,1761365021.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:41.420Z,1761365021.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 98.332428 m,
      bearing: 334.507256 deg,
      approach rate: -0.536873 m/s,
      LOS rate: -0.037065 deg/s,
      cmd heading: 332.942434 deg,
      new cmd heading: 332.899585 deg.

2025-10-25T04:03:41.422Z,1761365021.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810194 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:41.526Z,1761365021.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258501
2025-10-25T04:03:41.778Z,1761365021.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509827
2025-10-25T04:03:41.803Z,1761365021.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894077,0.446378,-0.037040],[-0.447887,0.891845,-0.063321],[0.004769,0.073203,0.997306]]
2025-10-25T04:03:41.873Z,1761365021.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:41.875Z,1761365021.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:41.882Z,1761365021.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 98.099136 m,
      bearing: 334.491295 deg,
      approach rate: -0.510186 m/s,
      LOS rate: -0.034987 deg/s,
      cmd heading: 332.899595 deg,
      new cmd heading: 332.851599 deg.

2025-10-25T04:03:41.883Z,1761365021.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809356 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:42.031Z,1761365022.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914
2025-10-25T04:03:42.144Z,1761365022.144 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-25T04:03:42.145Z,1761365022.145 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-25T04:03:42.205Z,1761365022.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894048,0.446357,-0.037988],[-0.447952,0.891565,-0.066716],[0.004090,0.076664,0.997049]]
2025-10-25T04:03:42.209Z,1761365022.209 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-25T04:03:42.226Z,1761365022.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:42.258Z,1761365022.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 97.897812 m,
      bearing: 334.477467 deg,
      approach rate: -0.574061 m/s,
      LOS rate: -0.039512 deg/s,
      cmd heading: 332.851593 deg,
      new cmd heading: 332.810022 deg.

2025-10-25T04:03:42.272Z,1761365022.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808630 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:42.282Z,1761365022.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014603
2025-10-25T04:03:42.534Z,1761365022.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265879
2025-10-25T04:03:42.615Z,1761365022.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893603,0.447230,-0.038202],[-0.448847,0.890954,-0.068832],[0.003252,0.078656,0.996897]]
2025-10-25T04:03:42.655Z,1761365022.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:42.662Z,1761365022.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 97.676834 m,
      bearing: 334.462352 deg,
      approach rate: -0.515053 m/s,
      LOS rate: -0.035309 deg/s,
      cmd heading: 332.810010 deg,
      new cmd heading: 332.764564 deg.

2025-10-25T04:03:42.663Z,1761365022.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807837 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:42.785Z,1761365022.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517795
2025-10-25T04:03:43.011Z,1761365023.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893290,0.447822,-0.038585],[-0.449473,0.890514,-0.070420],[0.002825,0.080248,0.996771]]
2025-10-25T04:03:43.038Z,1761365023.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769817
2025-10-25T04:03:43.047Z,1761365023.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:43.054Z,1761365023.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 97.465393 m,
      bearing: 334.447913 deg,
      approach rate: -0.538330 m/s,
      LOS rate: -0.036842 deg/s,
      cmd heading: 332.764576 deg,
      new cmd heading: 332.721164 deg.

2025-10-25T04:03:43.055Z,1761365023.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807080 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:43.290Z,1761365023.290 [DAT](INFO): DAT read: Rx Time:04:03:42.2602

2025-10-25T04:03:43.291Z,1761365023.291 [DAT](INFO): Rx dataTimestamp_ set to:1761365023.290838
2025-10-25T04:03:43.292Z,1761365023.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024162
2025-10-25T04:03:43.416Z,1761365023.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892709,0.448903,-0.039449],[-0.450623,0.889821,-0.071808],[0.002868,0.081880,0.996638]]
2025-10-25T04:03:43.447Z,1761365023.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.62 m.
2025-10-25T04:03:43.450Z,1761365023.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.624146 m,
      nav range: 97.241745 m,
      bearing: 334.432742 deg,
      approach rate: -0.559631 m/s,
      LOS rate: -0.038047 deg/s,
      cmd heading: 332.721163 deg,
      new cmd heading: 332.675548 deg.

2025-10-25T04:03:43.451Z,1761365023.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806283 target range: 99.624146 and range: 100.10 m.
2025-10-25T04:03:43.542Z,1761365023.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274059
2025-10-25T04:03:43.799Z,1761365023.799 [DAT](INFO): DAT read: 04:03:42.2602 LVL= 17440, 27377, 17394, 25539, AGC= 68, IDX= 407,-0.15, 0.475,-0.949, 0.387, 0.067, PHS= 0.496,-0.969, 0.318, RAW= 143.6,   2.3, CAL= 147.2,  -6.4, ROT=   2.8,   6.4

2025-10-25T04:03:43.800Z,1761365023.800 [DAT](INFO): got valid direction response:
 04:03:42.2602 LVL= 17440, 27377, 17394, 25539, AGC= 68, IDX= 407,-0.15, 0.475,-0.949, 0.387, 0.067, PHS= 0.496,-0.969, 0.318, RAW= 143.6,   2.3, CAL= 147.2,  -6.4, ROT=   2.8,   6.4

2025-10-25T04:03:43.801Z,1761365023.801 [DAT](INFO): DAT read: Bearing   2.8,   6.4 (Local)

2025-10-25T04:03:43.801Z,1761365023.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,   6.4 (Local)

2025-10-25T04:03:43.803Z,1761365023.803 [DAT](INFO): DAT read: Range 10 to 50 : 98.0 m  (Round-trip  130.7 ms) speed  0.5 m/s

2025-10-25T04:03:43.803Z,1761365023.803 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:43.804Z,1761365023.804 [DAT](INFO): direction in FSK: [0.992581,0.048545,-0.111469]
2025-10-25T04:03:43.809Z,1761365023.809 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:43.812Z,1761365023.812 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:43.812Z,1761365023.812 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:43.812Z,1761365023.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:43.859Z,1761365023.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892279,0.449677,-0.040351],[-0.451476,0.889234,-0.073701],[0.002740,0.083979,0.996464]]
2025-10-25T04:03:43.922Z,1761365023.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.000000 m,
      deltaT: 3.778838 s,
      deltaX: -2.099998 m,
      approachRate: -0.555726 m/s,
      rangeRepo size: 4

2025-10-25T04:03:43.928Z,1761365023.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.533440 m,
      bearing: 336.489466 deg,
      lat: 36.779460 deg,
      lon: -121.859741 deg,
      deltaT: 3.778838 s,
      deltaX: -2.090706 m,
      approachRate: -0.553267 m/s,
      posRepo size: 4

2025-10-25T04:03:43.937Z,1761365023.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:43.940Z,1761365023.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 97.069473 m,
      bearing: 334.435294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038047 deg/s,
      cmd heading: 332.675538 deg,
      new cmd heading: 332.622002 deg.

2025-10-25T04:03:43.941Z,1761365023.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805349 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:44.047Z,1761365024.047 [DAT](INFO): DAT read: user:310>

2025-10-25T04:03:44.047Z,1761365024.047 [DAT](INFO): DAT read: Tx time:04:03:43.5238

2025-10-25T04:03:44.048Z,1761365024.048 [DAT](INFO): Ping request sent.
2025-10-25T04:03:44.048Z,1761365024.048 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:44.048Z,1761365024.048 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:44.049Z,1761365024.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000887
2025-10-25T04:03:44.234Z,1761365024.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892095,0.450005,-0.040757],[-0.451840,0.888961,-0.074764],[0.002588,0.085112,0.996368]]
2025-10-25T04:03:44.259Z,1761365024.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:44.266Z,1761365024.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:44.273Z,1761365024.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 96.872055 m,
      bearing: 334.421986 deg,
      approach rate: -0.564000 m/s,
      LOS rate: -0.038098 deg/s,
      cmd heading: 332.621989 deg,
      new cmd heading: 332.581983 deg.

2025-10-25T04:03:44.279Z,1761365024.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804651 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:44.298Z,1761365024.298 [DAT](INFO): DAT read: TxSync time:04:03:43.5230

2025-10-25T04:03:44.300Z,1761365024.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251843
2025-10-25T04:03:44.550Z,1761365024.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501819
2025-10-25T04:03:44.629Z,1761365024.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891171,0.451736,-0.041815],[-0.453655,0.888016,-0.074994],[0.003255,0.085802,0.996307]]
2025-10-25T04:03:44.670Z,1761365024.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:44.677Z,1761365024.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 96.661484 m,
      bearing: 334.407987 deg,
      approach rate: -0.520707 m/s,
      LOS rate: -0.034691 deg/s,
      cmd heading: 332.581991 deg,
      new cmd heading: 332.539905 deg.

2025-10-25T04:03:44.679Z,1761365024.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803916 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:44.802Z,1761365024.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754140
2025-10-25T04:03:45.032Z,1761365025.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890098,0.453558,-0.044851],[-0.455749,0.886679,-0.078056],[0.004365,0.089918,0.995940]]
2025-10-25T04:03:45.051Z,1761365025.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:45.054Z,1761365025.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005818
2025-10-25T04:03:45.055Z,1761365025.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 96.445518 m,
      bearing: 334.393870 deg,
      approach rate: -0.567744 m/s,
      LOS rate: -0.037195 deg/s,
      cmd heading: 332.539917 deg,
      new cmd heading: 332.497472 deg.

2025-10-25T04:03:45.056Z,1761365025.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803175 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:45.306Z,1761365025.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258501
2025-10-25T04:03:45.467Z,1761365025.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:45.470Z,1761365025.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 96.221909 m,
      bearing: 334.379187 deg,
      approach rate: -0.536951 m/s,
      LOS rate: -0.035341 deg/s,
      cmd heading: 332.497461 deg,
      new cmd heading: 332.453308 deg.

2025-10-25T04:03:45.471Z,1761365025.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802405 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:45.559Z,1761365025.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511257
2025-10-25T04:03:45.809Z,1761365025.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761688
2025-10-25T04:03:45.851Z,1761365025.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888629,0.456309,-0.046050],[-0.458591,0.885314,-0.076900],[0.005678,0.089453,0.995975]]
2025-10-25T04:03:45.869Z,1761365025.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:45.871Z,1761365025.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 96.005356 m,
      bearing: 334.365319 deg,
      approach rate: -0.539824 m/s,
      LOS rate: -0.034647 deg/s,
      cmd heading: 332.453311 deg,
      new cmd heading: 332.411614 deg.

2025-10-25T04:03:45.872Z,1761365025.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801677 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:46.062Z,1761365026.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014122
2025-10-25T04:03:46.249Z,1761365026.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888446,0.456719,-0.045520],[-0.458949,0.885184,-0.076254],[0.005466,0.088639,0.996049]]
2025-10-25T04:03:46.272Z,1761365026.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:46.275Z,1761365026.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:46.279Z,1761365026.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 95.787338 m,
      bearing: 334.351348 deg,
      approach rate: -0.537054 m/s,
      LOS rate: -0.034494 deg/s,
      cmd heading: 332.411619 deg,
      new cmd heading: 332.369610 deg.

2025-10-25T04:03:46.280Z,1761365026.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800944 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:46.314Z,1761365026.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265811
2025-10-25T04:03:46.565Z,1761365026.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517636
2025-10-25T04:03:46.655Z,1761365026.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888579,0.456446,-0.045643],[-0.458689,0.885307,-0.076390],[0.005541,0.088814,0.996033]]
2025-10-25T04:03:46.674Z,1761365026.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:46.677Z,1761365026.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 95.572021 m,
      bearing: 334.337448 deg,
      approach rate: -0.538168 m/s,
      LOS rate: -0.034820 deg/s,
      cmd heading: 332.369600 deg,
      new cmd heading: 332.327807 deg.

2025-10-25T04:03:46.679Z,1761365026.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800214 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:46.818Z,1761365026.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769942
2025-10-25T04:03:47.057Z,1761365027.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888360,0.456847,-0.045908],[-0.459109,0.885134,-0.075876],[0.005971,0.088482,0.996060]]
2025-10-25T04:03:47.070Z,1761365027.070 [DAT](INFO): DAT read: Rx Time:04:03:46.0556

2025-10-25T04:03:47.070Z,1761365027.070 [DAT](INFO): Rx dataTimestamp_ set to:1761365027.069927
2025-10-25T04:03:47.071Z,1761365027.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022952
2025-10-25T04:03:47.102Z,1761365027.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:47.109Z,1761365027.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 95.356033 m,
      bearing: 334.323504 deg,
      approach rate: -0.505133 m/s,
      LOS rate: -0.032685 deg/s,
      cmd heading: 332.327799 deg,
      new cmd heading: 332.285872 deg.

2025-10-25T04:03:47.110Z,1761365027.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799482 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:47.326Z,1761365027.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278396
2025-10-25T04:03:47.472Z,1761365027.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888550,0.456448,-0.046198],[-0.458746,0.885193,-0.077363],[0.005582,0.089934,0.995932]]
2025-10-25T04:03:47.548Z,1761365027.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.53 m.
2025-10-25T04:03:47.555Z,1761365027.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.533440 m,
      nav range: 95.104942 m,
      bearing: 334.307151 deg,
      approach rate: -0.562877 m/s,
      LOS rate: -0.036757 deg/s,
      cmd heading: 332.285862 deg,
      new cmd heading: 332.236672 deg.

2025-10-25T04:03:47.556Z,1761365027.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798624 target range: 97.533440 and range: 98.00 m.
2025-10-25T04:03:47.585Z,1761365027.585 [DAT](INFO): DAT read: 04:03:46.0556 LVL= 20960, 29073, 17682, 27987, AGC= 68, IDX= 408, 0.11,-1.295,-2.733,-1.373,-1.739, PHS= 0.532,-0.947, 0.363, RAW= 144.0,   0.8, CAL= 147.8,  -8.1, ROT=   2.2,   8.1

2025-10-25T04:03:47.586Z,1761365027.586 [DAT](INFO): got valid direction response:
 04:03:46.0556 LVL= 20960, 29073, 17682, 27987, AGC= 68, IDX= 408, 0.11,-1.295,-2.733,-1.373,-1.739, PHS= 0.532,-0.947, 0.363, RAW= 144.0,   0.8, CAL= 147.8,  -8.1, ROT=   2.2,   8.1

2025-10-25T04:03:47.587Z,1761365027.587 [DAT](INFO): DAT read: Bearing   2.2,   8.1 (Local)

2025-10-25T04:03:47.587Z,1761365027.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,   8.1 (Local)

2025-10-25T04:03:47.589Z,1761365027.589 [DAT](INFO): DAT read: Range 10 to 50 : 95.7 m  (Round-trip  127.7 ms) speed  0.4 m/s

2025-10-25T04:03:47.589Z,1761365027.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:47.590Z,1761365027.590 [DAT](INFO): direction in FSK: [0.989294,0.038005,-0.140901]
2025-10-25T04:03:47.591Z,1761365027.591 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:47.594Z,1761365027.594 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:47.594Z,1761365027.594 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:47.594Z,1761365027.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:47.831Z,1761365027.831 [DAT](INFO): DAT read: user:311>

2025-10-25T04:03:47.831Z,1761365027.831 [DAT](INFO): DAT read: Tx time:04:03:47.3238

2025-10-25T04:03:47.832Z,1761365027.832 [DAT](INFO): Ping request sent.
2025-10-25T04:03:47.832Z,1761365027.832 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:47.832Z,1761365027.832 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:47.833Z,1761365027.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844
2025-10-25T04:03:47.972Z,1761365027.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.699997 m,
      deltaT: 3.784144 s,
      deltaX: -2.300003 m,
      approachRate: -0.607800 m/s,
      rangeRepo size: 4

2025-10-25T04:03:47.978Z,1761365027.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.244591 m,
      bearing: 335.614676 deg,
      lat: 36.779464 deg,
      lon: -121.859730 deg,
      deltaT: 3.784144 s,
      deltaX: -2.288849 m,
      approachRate: -0.604852 m/s,
      posRepo size: 4

2025-10-25T04:03:47.979Z,1761365027.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:47.986Z,1761365027.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 94.923325 m,
      bearing: 334.951638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036757 deg/s,
      cmd heading: 332.236684 deg,
      new cmd heading: 332.190009 deg.

2025-10-25T04:03:47.987Z,1761365027.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797810 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:48.082Z,1761365028.082 [DAT](INFO): DAT read: TxSync time:04:03:47.3230

2025-10-25T04:03:48.084Z,1761365028.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251646
2025-10-25T04:03:48.316Z,1761365028.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887652,0.458709,-0.040743],[-0.460470,0.885322,-0.064592],[0.006442,0.076096,0.997080]]
2025-10-25T04:03:48.334Z,1761365028.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502474
2025-10-25T04:03:48.336Z,1761365028.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:48.338Z,1761365028.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:48.341Z,1761365028.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 94.716270 m,
      bearing: 334.939737 deg,
      approach rate: -0.564348 m/s,
      LOS rate: -0.032508 deg/s,
      cmd heading: 332.190021 deg,
      new cmd heading: 332.154240 deg.

2025-10-25T04:03:48.342Z,1761365028.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797185 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:48.586Z,1761365028.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754202
2025-10-25T04:03:48.704Z,1761365028.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886705,0.460592,-0.040117],[-0.462299,0.884392,-0.064273],[0.005875,0.075537,0.997126]]
2025-10-25T04:03:48.742Z,1761365028.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:48.749Z,1761365028.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 94.506454 m,
      bearing: 334.927888 deg,
      approach rate: -0.526545 m/s,
      LOS rate: -0.029800 deg/s,
      cmd heading: 332.154230 deg,
      new cmd heading: 332.118606 deg.

2025-10-25T04:03:48.750Z,1761365028.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796563 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:48.838Z,1761365028.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005996
2025-10-25T04:03:49.093Z,1761365029.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260757
2025-10-25T04:03:49.109Z,1761365029.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886065,0.461892,-0.039306],[-0.463527,0.883833,-0.063106],[0.005592,0.074135,0.997233]]
2025-10-25T04:03:49.157Z,1761365029.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:49.159Z,1761365029.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 94.286301 m,
      bearing: 334.915587 deg,
      approach rate: -0.529565 m/s,
      LOS rate: -0.029660 deg/s,
      cmd heading: 332.118604 deg,
      new cmd heading: 332.081613 deg.

2025-10-25T04:03:49.160Z,1761365029.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795918 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:49.342Z,1761365029.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509977
2025-10-25T04:03:49.512Z,1761365029.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886025,0.462012,-0.038794],[-0.463613,0.883734,-0.063857],[0.004781,0.074564,0.997205]]
2025-10-25T04:03:49.532Z,1761365029.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:49.535Z,1761365029.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 94.071327 m,
      bearing: 334.903531 deg,
      approach rate: -0.566402 m/s,
      LOS rate: -0.031837 deg/s,
      cmd heading: 332.081612 deg,
      new cmd heading: 332.045362 deg.

2025-10-25T04:03:49.536Z,1761365029.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795285 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:49.594Z,1761365029.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761688
2025-10-25T04:03:49.847Z,1761365029.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014596
2025-10-25T04:03:50.011Z,1761365030.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:50.015Z,1761365030.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 93.844482 m,
      bearing: 334.890750 deg,
      approach rate: -0.473178 m/s,
      LOS rate: -0.026725 deg/s,
      cmd heading: 332.045357 deg,
      new cmd heading: 332.006921 deg.

2025-10-25T04:03:50.015Z,1761365030.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794614 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:50.098Z,1761365030.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266289
2025-10-25T04:03:50.335Z,1761365030.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887330,0.459647,-0.037005],[-0.461128,0.884869,-0.066093],[0.002366,0.075710,0.997127]]
2025-10-25T04:03:50.350Z,1761365030.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517705
2025-10-25T04:03:50.354Z,1761365030.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:50.356Z,1761365030.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:50.359Z,1761365030.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 93.628952 m,
      bearing: 334.878174 deg,
      approach rate: -0.625525 m/s,
      LOS rate: -0.036582 deg/s,
      cmd heading: 332.006917 deg,
      new cmd heading: 331.969103 deg.

2025-10-25T04:03:50.360Z,1761365030.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793954 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:50.602Z,1761365030.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770302
2025-10-25T04:03:50.739Z,1761365030.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888555,0.457321,-0.036434],[-0.458769,0.885907,-0.068560],[0.000923,0.077634,0.996982]]
2025-10-25T04:03:50.759Z,1761365030.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:50.764Z,1761365030.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 93.410065 m,
      bearing: 334.864981 deg,
      approach rate: -0.542595 m/s,
      LOS rate: -0.032780 deg/s,
      cmd heading: 331.969105 deg,
      new cmd heading: 331.929434 deg.

2025-10-25T04:03:50.765Z,1761365030.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793262 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:50.857Z,1761365030.857 [DAT](INFO): DAT read: Rx Time:04:03:49.8529

2025-10-25T04:03:50.858Z,1761365030.858 [DAT](INFO): Rx dataTimestamp_ set to:1761365030.857669
2025-10-25T04:03:50.860Z,1761365030.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027507
2025-10-25T04:03:51.105Z,1761365031.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273566
2025-10-25T04:03:51.138Z,1761365031.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889877,0.454768,-0.036130],[-0.456201,0.887031,-0.071105],[-0.000288,0.079758,0.996814]]
2025-10-25T04:03:51.174Z,1761365031.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.24 m.
2025-10-25T04:03:51.177Z,1761365031.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.244591 m,
      nav range: 93.186623 m,
      bearing: 334.851047 deg,
      approach rate: -0.538695 m/s,
      LOS rate: -0.033673 deg/s,
      cmd heading: 331.929435 deg,
      new cmd heading: 331.887534 deg.

2025-10-25T04:03:51.179Z,1761365031.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792530 target range: 95.244591 and range: 95.70 m.
2025-10-25T04:03:51.364Z,1761365031.364 [DAT](INFO): DAT read: 04:03:49.8529 LVL= 18544, 29969, 16626, 29267, AGC= 68, IDX= 412,-0.10,-0.257,-1.674,-0.372,-0.693, PHS= 0.523,-0.934, 0.318, RAW= 142.5,   1.4, CAL= 146.5,  -7.4, ROT=   3.5,   7.4

2025-10-25T04:03:51.365Z,1761365031.365 [DAT](INFO): got valid direction response:
 04:03:49.8529 LVL= 18544, 29969, 16626, 29267, AGC= 68, IDX= 412,-0.10,-0.257,-1.674,-0.372,-0.693, PHS= 0.523,-0.934, 0.318, RAW= 142.5,   1.4, CAL= 146.5,  -7.4, ROT=   3.5,   7.4

2025-10-25T04:03:51.366Z,1761365031.366 [DAT](INFO): DAT read: Bearing   3.5,   7.4 (Local)

2025-10-25T04:03:51.366Z,1761365031.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,   7.4 (Local)

2025-10-25T04:03:51.368Z,1761365031.368 [DAT](INFO): DAT read: Range 10 to 50 : 93.7 m  (Round-trip  125.0 ms) speed  0.4 m/s

2025-10-25T04:03:51.369Z,1761365031.369 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:51.370Z,1761365031.370 [DAT](INFO): direction in FSK: [0.989821,0.060540,-0.128796]
2025-10-25T04:03:51.370Z,1761365031.370 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:51.373Z,1761365031.373 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:51.373Z,1761365031.373 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:51.374Z,1761365031.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:51.549Z,1761365031.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891246,0.452131,-0.035467],[-0.453516,0.888201,-0.073631],[-0.001789,0.081709,0.996655]]
2025-10-25T04:03:51.609Z,1761365031.609 [DAT](INFO): DAT read: user:312>

2025-10-25T04:03:51.610Z,1761365031.610 [DAT](INFO): DAT read: Tx time:04:03:51.0738

2025-10-25T04:03:51.610Z,1761365031.610 [DAT](INFO): Ping request sent.
2025-10-25T04:03:51.611Z,1761365031.611 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:51.611Z,1761365031.611 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:51.612Z,1761365031.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-10-25T04:03:51.626Z,1761365031.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.699997 m,
      deltaT: 3.780016 s,
      deltaX: -2.000000 m,
      approachRate: -0.529098 m/s,
      rangeRepo size: 4

2025-10-25T04:03:51.645Z,1761365031.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.255257 m,
      bearing: 337.126200 deg,
      lat: 36.779465 deg,
      lon: -121.859717 deg,
      deltaT: 3.780016 s,
      deltaX: -1.989334 m,
      approachRate: -0.526277 m/s,
      posRepo size: 4

2025-10-25T04:03:51.647Z,1761365031.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:51.658Z,1761365031.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 92.542862 m,
      bearing: 335.536531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033673 deg/s,
      cmd heading: 331.887525 deg,
      new cmd heading: 331.841908 deg.

2025-10-25T04:03:51.659Z,1761365031.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791734 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:51.863Z,1761365031.863 [DAT](INFO): DAT read: TxSync time:04:03:51.0730

2025-10-25T04:03:51.864Z,1761365031.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253054
2025-10-25T04:03:51.944Z,1761365031.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891534,0.451542,-0.035742],[-0.452949,0.888361,-0.075184],[-0.002197,0.083218,0.996529]]
2025-10-25T04:03:51.980Z,1761365031.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:52.011Z,1761365032.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 92.332962 m,
      bearing: 335.524380 deg,
      approach rate: -0.594141 m/s,
      LOS rate: -0.034472 deg/s,
      cmd heading: 331.841899 deg,
      new cmd heading: 331.805365 deg.

2025-10-25T04:03:52.021Z,1761365032.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791096 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:52.114Z,1761365032.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503350
2025-10-25T04:03:52.351Z,1761365032.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889987,0.454099,-0.041427],[-0.455980,0.885851,-0.085736],[-0.002234,0.095194,0.995456]]
2025-10-25T04:03:52.366Z,1761365032.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755021
2025-10-25T04:03:52.378Z,1761365032.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:52.381Z,1761365032.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:52.383Z,1761365032.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 92.112465 m,
      bearing: 335.512022 deg,
      approach rate: -0.549387 m/s,
      LOS rate: -0.030865 deg/s,
      cmd heading: 331.805372 deg,
      new cmd heading: 331.768209 deg.

2025-10-25T04:03:52.384Z,1761365032.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790448 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:52.618Z,1761365032.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986
2025-10-25T04:03:52.754Z,1761365032.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888740,0.456544,-0.041344],[-0.458406,0.884630,-0.085398],[-0.002414,0.094849,0.995489]]
2025-10-25T04:03:52.774Z,1761365032.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:52.777Z,1761365032.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 91.899742 m,
      bearing: 335.500408 deg,
      approach rate: -0.540461 m/s,
      LOS rate: -0.029576 deg/s,
      cmd heading: 331.768215 deg,
      new cmd heading: 331.733293 deg.

2025-10-25T04:03:52.778Z,1761365032.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789838 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:52.870Z,1761365032.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259448
2025-10-25T04:03:53.122Z,1761365033.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511548
2025-10-25T04:03:53.157Z,1761365033.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888004,0.458061,-0.040360],[-0.459821,0.883846,-0.085915],[-0.003682,0.094851,0.995485]]
2025-10-25T04:03:53.176Z,1761365033.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:53.195Z,1761365033.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 91.683121 m,
      bearing: 335.488743 deg,
      approach rate: -0.539307 m/s,
      LOS rate: -0.029110 deg/s,
      cmd heading: 331.733299 deg,
      new cmd heading: 331.698222 deg.

2025-10-25T04:03:53.201Z,1761365033.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789226 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:53.373Z,1761365033.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762859
2025-10-25T04:03:53.607Z,1761365033.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:53.610Z,1761365033.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 91.450691 m,
      bearing: 335.476165 deg,
      approach rate: -0.539069 m/s,
      LOS rate: -0.029246 deg/s,
      cmd heading: 331.698220 deg,
      new cmd heading: 331.660390 deg.

2025-10-25T04:03:53.611Z,1761365033.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788566 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:53.625Z,1761365033.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-10-25T04:03:53.878Z,1761365033.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267202
2025-10-25T04:03:53.968Z,1761365033.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886129,0.461870,-0.038093],[-0.463412,0.882197,-0.083533],[-0.004976,0.091674,0.995777]]
2025-10-25T04:03:53.986Z,1761365033.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:53.989Z,1761365033.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 91.246399 m,
      bearing: 335.465581 deg,
      approach rate: -0.539003 m/s,
      LOS rate: -0.027988 deg/s,
      cmd heading: 331.660380 deg,
      new cmd heading: 331.628556 deg.

2025-10-25T04:03:53.990Z,1761365033.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788010 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:54.131Z,1761365034.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519718
2025-10-25T04:03:54.375Z,1761365034.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885137,0.463924,-0.036144],[-0.465306,0.881632,-0.078831],[-0.004706,0.086594,0.996233]]
2025-10-25T04:03:54.382Z,1761365034.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771343
2025-10-25T04:03:54.397Z,1761365034.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:54.399Z,1761365034.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:54.403Z,1761365034.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 91.024498 m,
      bearing: 335.454333 deg,
      approach rate: -0.536516 m/s,
      LOS rate: -0.027262 deg/s,
      cmd heading: 331.628552 deg,
      new cmd heading: 331.594726 deg.

2025-10-25T04:03:54.403Z,1761365034.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787420 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:54.634Z,1761365034.634 [DAT](INFO): DAT read: Rx Time:04:03:53.6003

2025-10-25T04:03:54.635Z,1761365034.635 [DAT](INFO): Rx dataTimestamp_ set to:1761365034.634852
2025-10-25T04:03:54.636Z,1761365034.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025439
2025-10-25T04:03:54.816Z,1761365034.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883977,0.466285,-0.034094],[-0.467512,0.880952,-0.073183],[-0.004089,0.080632,0.996736]]
2025-10-25T04:03:54.865Z,1761365034.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.26 m.
2025-10-25T04:03:54.868Z,1761365034.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.255257 m,
      nav range: 90.781723 m,
      bearing: 335.442351 deg,
      approach rate: -0.521805 m/s,
      LOS rate: -0.025822 deg/s,
      cmd heading: 331.594729 deg,
      new cmd heading: 331.558687 deg.

2025-10-25T04:03:54.873Z,1761365034.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786791 target range: 93.255257 and range: 93.70 m.
2025-10-25T04:03:54.886Z,1761365034.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072
2025-10-25T04:03:55.151Z,1761365035.151 [DAT](INFO): DAT read: 04:03:53.6004 LVL= 18160, 25457, 17570, 29107, AGC= 69, IDX= 417, 0.17,-1.763, 3.035,-1.921,-2.213, PHS= 0.538,-0.989, 0.288, RAW= 141.2,   2.3, CAL= 145.2,  -6.2, ROT=   4.8,   6.2

2025-10-25T04:03:55.164Z,1761365035.164 [DAT](INFO): got valid direction response:
 04:03:53.6004 LVL= 18160, 25457, 17570, 29107, AGC= 69, IDX= 417, 0.17,-1.763, 3.035,-1.921,-2.213, PHS= 0.538,-0.989, 0.288, RAW= 141.2,   2.3, CAL= 145.2,  -6.2, ROT=   4.8,   6.2

2025-10-25T04:03:55.165Z,1761365035.165 [DAT](INFO): DAT read: Bearing   4.8,   6.2 (Local)

2025-10-25T04:03:55.165Z,1761365035.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,   6.2 (Local)

2025-10-25T04:03:55.167Z,1761365035.167 [DAT](INFO): DAT read: Range 10 to 50 : 91.8 m  (Round-trip  122.4 ms) speed  0.4 m/s

2025-10-25T04:03:55.167Z,1761365035.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:55.168Z,1761365035.168 [DAT](INFO): direction in FSK: [0.990664,0.083188,-0.107999]
2025-10-25T04:03:55.169Z,1761365035.169 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:55.172Z,1761365035.172 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:55.172Z,1761365035.172 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:55.172Z,1761365035.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:55.251Z,1761365035.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883378,0.467438,-0.033839],[-0.468650,0.880548,-0.070730],[-0.003266,0.078340,0.996921]]
2025-10-25T04:03:55.323Z,1761365035.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.800003 m,
      deltaT: 3.780373 s,
      deltaX: -1.899994 m,
      approachRate: -0.502594 m/s,
      rangeRepo size: 4

2025-10-25T04:03:55.330Z,1761365035.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.362404 m,
      bearing: 337.325780 deg,
      lat: 36.779472 deg,
      lon: -121.859705 deg,
      deltaT: 3.780373 s,
      deltaX: -1.892853 m,
      approachRate: -0.500705 m/s,
      posRepo size: 4

2025-10-25T04:03:55.331Z,1761365035.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:55.342Z,1761365035.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 90.848053 m,
      bearing: 336.221610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025822 deg/s,
      cmd heading: 331.558693 deg,
      new cmd heading: 331.523210 deg.

2025-10-25T04:03:55.343Z,1761365035.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786171 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:55.390Z,1761365035.390 [DAT](INFO): DAT read: user:313>

2025-10-25T04:03:55.392Z,1761365035.392 [DAT](INFO): DAT read: Tx time:04:03:54.8739

2025-10-25T04:03:55.393Z,1761365035.393 [DAT](INFO): Ping request sent.
2025-10-25T04:03:55.393Z,1761365035.393 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:55.393Z,1761365035.393 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:55.398Z,1761365035.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004509
2025-10-25T04:03:55.642Z,1761365035.642 [DAT](INFO): DAT read: TxSync time:04:03:54.8731

2025-10-25T04:03:55.643Z,1761365035.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249379
2025-10-25T04:03:55.756Z,1761365035.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882685,0.468707,-0.034366],[-0.469957,0.879888,-0.070272],[-0.002698,0.078178,0.996936]]
2025-10-25T04:03:55.821Z,1761365035.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:55.823Z,1761365035.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 90.560310 m,
      bearing: 336.243996 deg,
      approach rate: -0.582965 m/s,
      LOS rate: 0.045498 deg/s,
      cmd heading: 331.523203 deg,
      new cmd heading: 331.590574 deg.

2025-10-25T04:03:55.824Z,1761365035.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787347 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:55.894Z,1761365035.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500240
2025-10-25T04:03:56.145Z,1761365036.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752141
2025-10-25T04:03:56.153Z,1761365036.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881296,0.471061,-0.037666],[-0.472563,0.878305,-0.072550],[-0.001093,0.081738,0.996653]]
2025-10-25T04:03:56.204Z,1761365036.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:56.207Z,1761365036.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 90.329491 m,
      bearing: 336.262480 deg,
      approach rate: -0.595320 m/s,
      LOS rate: 0.047796 deg/s,
      cmd heading: 331.590576 deg,
      new cmd heading: 331.646171 deg.

2025-10-25T04:03:56.208Z,1761365036.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788318 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:56.397Z,1761365036.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004143
2025-10-25T04:03:56.569Z,1761365036.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879773,0.473277,-0.044826],[-0.475394,0.875699,-0.084563],[-0.000768,0.095706,0.995409]]
2025-10-25T04:03:56.638Z,1761365036.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:56.640Z,1761365036.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:56.647Z,1761365036.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 90.077034 m,
      bearing: 336.287343 deg,
      approach rate: -0.579208 m/s,
      LOS rate: 0.057201 deg/s,
      cmd heading: 331.646174 deg,
      new cmd heading: 331.720969 deg.

2025-10-25T04:03:56.650Z,1761365036.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256553
2025-10-25T04:03:56.661Z,1761365036.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789623 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:56.902Z,1761365036.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508704
2025-10-25T04:03:56.961Z,1761365036.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877945,0.476639,-0.045023],[-0.478761,0.874089,-0.082201],[0.000174,0.093723,0.995598]]
2025-10-25T04:03:56.998Z,1761365036.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:57.005Z,1761365037.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 89.876328 m,
      bearing: 336.307718 deg,
      approach rate: -0.559937 m/s,
      LOS rate: 0.056972 deg/s,
      cmd heading: 331.720978 deg,
      new cmd heading: 331.782242 deg.

2025-10-25T04:03:57.006Z,1761365037.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790692 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:57.154Z,1761365037.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760200
2025-10-25T04:03:57.365Z,1761365037.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875745,0.480734,-0.044326],[-0.482773,0.872169,-0.079067],[0.000650,0.090642,0.995883]]
2025-10-25T04:03:57.389Z,1761365037.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:57.391Z,1761365037.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 89.642441 m,
      bearing: 336.332296 deg,
      approach rate: -0.599623 m/s,
      LOS rate: 0.063175 deg/s,
      cmd heading: 331.782231 deg,
      new cmd heading: 331.856156 deg.

2025-10-25T04:03:57.392Z,1761365037.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791983 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:57.409Z,1761365037.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015956
2025-10-25T04:03:57.663Z,1761365037.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269810
2025-10-25T04:03:57.769Z,1761365037.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874179,0.483582,-0.044258],[-0.485602,0.870744,-0.077427],[0.001095,0.089177,0.996015]]
2025-10-25T04:03:57.824Z,1761365037.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:57.827Z,1761365037.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 89.388336 m,
      bearing: 336.359939 deg,
      approach rate: -0.583600 m/s,
      LOS rate: 0.063667 deg/s,
      cmd heading: 331.856161 deg,
      new cmd heading: 331.939324 deg.

2025-10-25T04:03:57.828Z,1761365037.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793434 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:57.914Z,1761365037.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521006
2025-10-25T04:03:58.167Z,1761365038.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772607
2025-10-25T04:03:58.182Z,1761365038.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873801,0.484129,-0.045725],[-0.486279,0.870309,-0.078073],[0.001997,0.090455,0.995899]]
2025-10-25T04:03:58.232Z,1761365038.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:58.235Z,1761365038.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 89.153870 m,
      bearing: 336.385704 deg,
      approach rate: -0.575018 m/s,
      LOS rate: 0.063355 deg/s,
      cmd heading: 331.939325 deg,
      new cmd heading: 332.016825 deg.

2025-10-25T04:03:58.235Z,1761365038.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794787 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:58.418Z,1761365038.418 [DAT](INFO): DAT read: Rx Time:04:03:57.3975

2025-10-25T04:03:58.418Z,1761365038.418 [DAT](INFO): Rx dataTimestamp_ set to:1761365038.417791
2025-10-25T04:03:58.419Z,1761365038.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025297
2025-10-25T04:03:58.653Z,1761365038.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:03:58.655Z,1761365038.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.36 m.
2025-10-25T04:03:58.659Z,1761365038.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.362404 m,
      nav range: 88.911392 m,
      bearing: 336.412965 deg,
      approach rate: -0.572072 m/s,
      LOS rate: 0.064492 deg/s,
      cmd heading: 332.016834 deg,
      new cmd heading: 332.098840 deg.

2025-10-25T04:03:58.659Z,1761365038.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796218 target range: 91.362404 and range: 91.80 m.
2025-10-25T04:03:58.670Z,1761365038.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276318
2025-10-25T04:03:58.927Z,1761365038.927 [DAT](INFO): DAT read: 04:03:57.3975 LVL= 17200, 28081, 17538, 30355, AGC= 65, IDX= 404,-0.08,-2.860, 1.999,-3.053, 2.937, PHS= 0.574,-0.891, 0.290, RAW= 139.5,   0.4, CAL= 144.1,  -8.5, ROT=   5.9,   8.5

2025-10-25T04:03:58.928Z,1761365038.928 [DAT](INFO): got valid direction response:
 04:03:57.3975 LVL= 17200, 28081, 17538, 30355, AGC= 65, IDX= 404,-0.08,-2.860, 1.999,-3.053, 2.937, PHS= 0.574,-0.891, 0.290, RAW= 139.5,   0.4, CAL= 144.1,  -8.5, ROT=   5.9,   8.5

2025-10-25T04:03:58.930Z,1761365038.930 [DAT](INFO): DAT read: Bearing   5.9,   8.5 (Local)

2025-10-25T04:03:58.931Z,1761365038.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.9,   8.5 (Local)

2025-10-25T04:03:58.932Z,1761365038.932 [DAT](INFO): DAT read: Range 10 to 50 : 89.6 m  (Round-trip  119.5 ms) speed  0.7 m/s

2025-10-25T04:03:58.936Z,1761365038.936 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:03:58.937Z,1761365038.937 [DAT](INFO): direction in FSK: [0.983777,0.101663,-0.147809]
2025-10-25T04:03:58.937Z,1761365038.937 [DAT](INFO): publishing direction and range info
2025-10-25T04:03:58.940Z,1761365038.940 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:03:58.940Z,1761365038.940 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:03:58.954Z,1761365038.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:03:58.981Z,1761365038.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874141,0.483483,-0.046070],[-0.485663,0.870791,-0.076511],[0.003125,0.089256,0.996004]]
2025-10-25T04:03:59.059Z,1761365039.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.599998 m,
      deltaT: 3.783478 s,
      deltaX: -2.200005 m,
      approachRate: -0.581477 m/s,
      rangeRepo size: 4

2025-10-25T04:03:59.065Z,1761365039.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.172958 m,
      bearing: 337.576914 deg,
      lat: 36.779474 deg,
      lon: -121.859690 deg,
      deltaT: 3.783478 s,
      deltaX: -2.189445 m,
      approachRate: -0.578686 m/s,
      posRepo size: 4

2025-10-25T04:03:59.066Z,1761365039.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:03:59.068Z,1761365039.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 88.377625 m,
      bearing: 337.291352 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064492 deg/s,
      cmd heading: 332.098851 deg,
      new cmd heading: 332.176765 deg.

2025-10-25T04:03:59.074Z,1761365039.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797578 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:03:59.177Z,1761365039.177 [DAT](INFO): DAT read: user:314>

2025-10-25T04:03:59.178Z,1761365039.178 [DAT](INFO): DAT read: Tx time:04:03:58.6739

2025-10-25T04:03:59.178Z,1761365039.178 [DAT](INFO): Ping request sent.
2025-10-25T04:03:59.178Z,1761365039.178 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:03:59.178Z,1761365039.178 [DAT](INFO): publishing transmit ping time
2025-10-25T04:03:59.180Z,1761365039.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001131
2025-10-25T04:03:59.393Z,1761365039.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874186,0.483312,-0.047004],[-0.485579,0.870772,-0.077266],[0.003586,0.090369,0.995902]]
2025-10-25T04:03:59.426Z,1761365039.426 [DAT](INFO): DAT read: TxSync time:04:03:58.6731

2025-10-25T04:03:59.427Z,1761365039.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248378
2025-10-25T04:03:59.437Z,1761365039.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:03:59.439Z,1761365039.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 88.147537 m,
      bearing: 337.319764 deg,
      approach rate: -0.614871 m/s,
      LOS rate: 0.076124 deg/s,
      cmd heading: 332.176770 deg,
      new cmd heading: 332.262228 deg.

2025-10-25T04:03:59.440Z,1761365039.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799070 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:03:59.678Z,1761365039.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499471
2025-10-25T04:03:59.819Z,1761365039.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873326,0.484831,-0.047328],[-0.487108,0.870177,-0.074278],[0.005171,0.087922,0.996114]]
2025-10-25T04:03:59.882Z,1761365039.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:03:59.898Z,1761365039.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 87.903107 m,
      bearing: 337.342595 deg,
      approach rate: -0.550694 m/s,
      LOS rate: 0.051580 deg/s,
      cmd heading: 332.262229 deg,
      new cmd heading: 332.330912 deg.

2025-10-25T04:03:59.903Z,1761365039.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800269 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:03:59.931Z,1761365039.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752886
2025-10-25T04:04:00.182Z,1761365040.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003432
2025-10-25T04:04:00.216Z,1761365040.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874508,0.482494,-0.049349],[-0.484968,0.871260,-0.075576],[0.006531,0.090025,0.995918]]
2025-10-25T04:04:00.265Z,1761365040.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:00.268Z,1761365040.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 87.680031 m,
      bearing: 337.363184 deg,
      approach rate: -0.573674 m/s,
      LOS rate: 0.053082 deg/s,
      cmd heading: 332.330914 deg,
      new cmd heading: 332.392837 deg.

2025-10-25T04:04:00.273Z,1761365040.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801350 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:00.434Z,1761365040.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255447
2025-10-25T04:04:00.629Z,1761365040.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875585,0.480301,-0.051591],[-0.483007,0.872118,-0.078194],[0.007437,0.093384,0.995602]]
2025-10-25T04:04:00.681Z,1761365040.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:00.683Z,1761365040.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:00.686Z,1761365040.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507763
2025-10-25T04:04:00.688Z,1761365040.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 87.449738 m,
      bearing: 337.379628 deg,
      approach rate: -0.551178 m/s,
      LOS rate: 0.039462 deg/s,
      cmd heading: 332.392850 deg,
      new cmd heading: 332.442313 deg.

2025-10-25T04:04:00.689Z,1761365040.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802213 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:00.937Z,1761365040.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759304
2025-10-25T04:04:01.039Z,1761365041.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877182,0.477308,-0.052233],[-0.480105,0.873491,-0.080703],[0.007105,0.095868,0.995369]]
2025-10-25T04:04:01.058Z,1761365041.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:01.062Z,1761365041.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 87.240257 m,
      bearing: 337.394207 deg,
      approach rate: -0.557814 m/s,
      LOS rate: 0.038914 deg/s,
      cmd heading: 332.442300 deg,
      new cmd heading: 332.486142 deg.

2025-10-25T04:04:01.064Z,1761365041.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802978 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:01.190Z,1761365041.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011552
2025-10-25T04:04:01.429Z,1761365041.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878929,0.474022,-0.052791],[-0.476901,0.875062,-0.082658],[0.007014,0.097827,0.995179]]
2025-10-25T04:04:01.442Z,1761365041.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263500
2025-10-25T04:04:01.450Z,1761365041.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:01.453Z,1761365041.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 87.026878 m,
      bearing: 337.408615 deg,
      approach rate: -0.545380 m/s,
      LOS rate: 0.036916 deg/s,
      cmd heading: 332.486150 deg,
      new cmd heading: 332.529481 deg.

2025-10-25T04:04:01.454Z,1761365041.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803734 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:01.694Z,1761365041.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516028
2025-10-25T04:04:01.832Z,1761365041.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880063,0.471811,-0.053693],[-0.474795,0.876120,-0.083566],[0.007614,0.099037,0.995055]]
2025-10-25T04:04:01.901Z,1761365041.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:01.904Z,1761365041.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 86.784225 m,
      bearing: 337.415808 deg,
      approach rate: -0.537180 m/s,
      LOS rate: 0.015969 deg/s,
      cmd heading: 332.529481 deg,
      new cmd heading: 332.551121 deg.

2025-10-25T04:04:01.905Z,1761365041.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804112 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:01.946Z,1761365041.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768250
2025-10-25T04:04:02.199Z,1761365042.199 [DAT](INFO): DAT read: Rx Time:04:04:01.1946

2025-10-25T04:04:02.201Z,1761365042.201 [DAT](INFO): Rx dataTimestamp_ set to:1761365042.199851
2025-10-25T04:04:02.202Z,1761365042.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024016
2025-10-25T04:04:02.301Z,1761365042.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881745,0.468517,-0.054923],[-0.471656,0.877624,-0.085543],[0.008123,0.101332,0.994819]]
2025-10-25T04:04:02.324Z,1761365042.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m.
2025-10-25T04:04:02.327Z,1761365042.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.172958 m,
      nav range: 86.557503 m,
      bearing: 337.422039 deg,
      approach rate: -0.536354 m/s,
      LOS rate: 0.014779 deg/s,
      cmd heading: 332.551119 deg,
      new cmd heading: 332.569861 deg.

2025-10-25T04:04:02.329Z,1761365042.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804439 target range: 89.172958 and range: 89.60 m.
2025-10-25T04:04:02.450Z,1761365042.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271389
2025-10-25T04:04:02.717Z,1761365042.717 [DAT](INFO): DAT read: 04:04:01.1946 LVL= 18112, 28065, 17906, 29363, AGC= 66, IDX= 406,-0.28, 3.083, 1.660, 2.916, 2.610, PHS= 0.561,-0.903, 0.303, RAW= 140.5,   0.6, CAL= 144.9,  -8.3, ROT=   5.1,   8.3

2025-10-25T04:04:02.719Z,1761365042.719 [DAT](INFO): got valid direction response:
 04:04:01.1946 LVL= 18112, 28065, 17906, 29363, AGC= 66, IDX= 406,-0.28, 3.083, 1.660, 2.916, 2.610, PHS= 0.561,-0.903, 0.303, RAW= 140.5,   0.6, CAL= 144.9,  -8.3, ROT=   5.1,   8.3

2025-10-25T04:04:02.719Z,1761365042.719 [DAT](INFO): DAT read: Bearing   5.1,   8.3 (Local)

2025-10-25T04:04:02.720Z,1761365042.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,   8.3 (Local)

2025-10-25T04:04:02.724Z,1761365042.724 [DAT](INFO): DAT read: Range 10 to 50 : 87.4 m  (Round-trip  116.6 ms) speed  0.4 m/s

2025-10-25T04:04:02.741Z,1761365042.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:02.742Z,1761365042.742 [DAT](INFO): direction in FSK: [0.985608,0.087963,-0.144356]
2025-10-25T04:04:02.742Z,1761365042.742 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:02.753Z,1761365042.753 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:02.753Z,1761365042.753 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:02.754Z,1761365042.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:02.766Z,1761365042.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883065,0.465910,-0.055899],[-0.469168,0.878860,-0.086524],[0.008815,0.102632,0.994680]]
2025-10-25T04:04:02.894Z,1761365042.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.400002 m,
      deltaT: 3.780802 s,
      deltaX: -2.199997 m,
      approachRate: -0.581886 m/s,
      rangeRepo size: 4

2025-10-25T04:04:02.907Z,1761365042.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.985100 m,
      bearing: 337.938234 deg,
      lat: 36.779476 deg,
      lon: -121.859687 deg,
      deltaT: 3.780802 s,
      deltaX: -2.187859 m,
      approachRate: -0.578676 m/s,
      posRepo size: 4

2025-10-25T04:04:02.930Z,1761365042.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:02.932Z,1761365042.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 86.310135 m,
      bearing: 337.620805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014779 deg/s,
      cmd heading: 332.569861 deg,
      new cmd heading: 332.594887 deg.

2025-10-25T04:04:02.942Z,1761365042.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804876 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:02.954Z,1761365042.954 [DAT](INFO): DAT read: user:315>

2025-10-25T04:04:02.954Z,1761365042.954 [DAT](INFO): DAT read: Tx time:04:04:02.4739

2025-10-25T04:04:02.955Z,1761365042.955 [DAT](INFO): Ping request sent.
2025-10-25T04:04:02.955Z,1761365042.955 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:02.955Z,1761365042.955 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:02.956Z,1761365042.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-25T04:04:03.206Z,1761365043.206 [DAT](INFO): DAT read: TxSync time:04:04:02.4731

2025-10-25T04:04:03.206Z,1761365043.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251588
2025-10-25T04:04:03.365Z,1761365043.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884714,0.462527,-0.057880],[-0.466005,0.880544,-0.086495],[0.010960,0.103496,0.994569]]
2025-10-25T04:04:03.418Z,1761365043.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:03.429Z,1761365043.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:03.438Z,1761365043.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 86.031654 m,
      bearing: 337.622283 deg,
      approach rate: -0.523544 m/s,
      LOS rate: 0.002787 deg/s,
      cmd heading: 332.594887 deg,
      new cmd heading: 332.599335 deg.

2025-10-25T04:04:03.439Z,1761365043.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804954 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:03.458Z,1761365043.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743
2025-10-25T04:04:03.710Z,1761365043.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748
2025-10-25T04:04:03.746Z,1761365043.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884402,0.462801,-0.060397],[-0.466548,0.880202,-0.087046],[0.012877,0.105162,0.994372]]
2025-10-25T04:04:03.799Z,1761365043.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:03.802Z,1761365043.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 85.822617 m,
      bearing: 337.622288 deg,
      approach rate: -0.553041 m/s,
      LOS rate: 0.000013 deg/s,
      cmd heading: 332.599340 deg,
      new cmd heading: 332.599355 deg.

2025-10-25T04:04:03.803Z,1761365043.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804954 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:03.962Z,1761365043.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007000
2025-10-25T04:04:04.152Z,1761365044.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884652,0.462213,-0.061237],[-0.466022,0.880678,-0.085025],[0.014630,0.103756,0.994495]]
2025-10-25T04:04:04.178Z,1761365044.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:04.184Z,1761365044.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 85.620178 m,
      bearing: 337.622210 deg,
      approach rate: -0.534076 m/s,
      LOS rate: -0.000206 deg/s,
      cmd heading: 332.599367 deg,
      new cmd heading: 332.599133 deg.

2025-10-25T04:04:04.214Z,1761365044.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258669
2025-10-25T04:04:04.214Z,1761365044.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804950 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:04.466Z,1761365044.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511117
2025-10-25T04:04:04.554Z,1761365044.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885432,0.460749,-0.061001],[-0.464526,0.881560,-0.084071],[0.015040,0.102775,0.994591]]
2025-10-25T04:04:04.575Z,1761365044.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:04.577Z,1761365044.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 85.409294 m,
      bearing: 337.621887 deg,
      approach rate: -0.531209 m/s,
      LOS rate: -0.000815 deg/s,
      cmd heading: 332.599122 deg,
      new cmd heading: 332.598151 deg.

2025-10-25T04:04:04.580Z,1761365044.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804933 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:04.719Z,1761365044.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763387
2025-10-25T04:04:04.961Z,1761365044.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886866,0.458146,-0.059752],[-0.461792,0.883089,-0.083073],[0.014707,0.101267,0.994751]]
2025-10-25T04:04:04.970Z,1761365044.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015015
2025-10-25T04:04:05.039Z,1761365045.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:05.048Z,1761365045.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 85.177246 m,
      bearing: 337.619264 deg,
      approach rate: -0.499674 m/s,
      LOS rate: -0.005665 deg/s,
      cmd heading: 332.598138 deg,
      new cmd heading: 332.590246 deg.

2025-10-25T04:04:05.053Z,1761365045.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804795 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:05.222Z,1761365045.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266661
2025-10-25T04:04:05.360Z,1761365045.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887875,0.456330,-0.058664],[-0.459859,0.884194,-0.082042],[0.014432,0.099820,0.994901]]
2025-10-25T04:04:05.380Z,1761365045.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:05.404Z,1761365045.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 84.984177 m,
      bearing: 337.616786 deg,
      approach rate: -0.566437 m/s,
      LOS rate: -0.007287 deg/s,
      cmd heading: 332.590242 deg,
      new cmd heading: 332.582791 deg.

2025-10-25T04:04:05.406Z,1761365045.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804665 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:05.474Z,1761365045.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519313
2025-10-25T04:04:05.725Z,1761365045.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770546
2025-10-25T04:04:05.833Z,1761365045.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:05.835Z,1761365045.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:05.838Z,1761365045.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 84.742439 m,
      bearing: 337.615835 deg,
      approach rate: -0.530676 m/s,
      LOS rate: -0.002094 deg/s,
      cmd heading: 332.582784 deg,
      new cmd heading: 332.579922 deg.

2025-10-25T04:04:05.839Z,1761365045.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804615 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:05.978Z,1761365045.978 [DAT](INFO): DAT read: Rx Time:04:04:04.9919

2025-10-25T04:04:05.979Z,1761365045.979 [DAT](INFO): Rx dataTimestamp_ set to:1761365045.978245
2025-10-25T04:04:05.979Z,1761365045.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024523
2025-10-25T04:04:06.172Z,1761365046.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889312,0.453638,-0.057762],[-0.457086,0.885649,-0.081842],[0.014030,0.099185,0.994970]]
2025-10-25T04:04:06.191Z,1761365046.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.99 m.
2025-10-25T04:04:06.193Z,1761365046.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.985100 m,
      nav range: 84.551926 m,
      bearing: 337.614678 deg,
      approach rate: -0.536341 m/s,
      LOS rate: -0.003262 deg/s,
      cmd heading: 332.579915 deg,
      new cmd heading: 332.576439 deg.

2025-10-25T04:04:06.194Z,1761365046.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804554 target range: 86.985100 and range: 87.40 m.
2025-10-25T04:04:06.231Z,1761365046.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276034
2025-10-25T04:04:06.487Z,1761365046.487 [DAT](INFO): DAT read: 04:04:04.9919 LVL= 18352, 25841, 14786, 25203, AGC= 66, IDX= 410,-0.32,-2.393, 2.472,-2.498,-2.830, PHS= 0.525,-0.934, 0.329, RAW= 142.9,   1.2, CAL= 146.8,  -7.6, ROT=   3.2,   7.6

2025-10-25T04:04:06.488Z,1761365046.488 [DAT](INFO): got valid direction response:
 04:04:04.9919 LVL= 18352, 25841, 14786, 25203, AGC= 66, IDX= 410,-0.32,-2.393, 2.472,-2.498,-2.830, PHS= 0.525,-0.934, 0.329, RAW= 142.9,   1.2, CAL= 146.8,  -7.6, ROT=   3.2,   7.6

2025-10-25T04:04:06.489Z,1761365046.489 [DAT](INFO): DAT read: Bearing   3.2,   7.6 (Local)

2025-10-25T04:04:06.489Z,1761365046.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,   7.6 (Local)

2025-10-25T04:04:06.491Z,1761365046.491 [DAT](INFO): DAT read: Range 10 to 50 : 85.3 m  (Round-trip  113.8 ms) speed  0.4 m/s

2025-10-25T04:04:06.491Z,1761365046.491 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:06.493Z,1761365046.493 [DAT](INFO): direction in FSK: [0.989670,0.055331,-0.132256]
2025-10-25T04:04:06.493Z,1761365046.493 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:06.497Z,1761365046.497 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:06.498Z,1761365046.498 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:06.498Z,1761365046.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:06.734Z,1761365046.734 [DAT](INFO): DAT read: user:316>

2025-10-25T04:04:06.734Z,1761365046.734 [DAT](INFO): DAT read: Tx time:04:04:06.2240

2025-10-25T04:04:06.735Z,1761365046.735 [DAT](INFO): Ping request sent.
2025-10-25T04:04:06.735Z,1761365046.735 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:06.735Z,1761365046.735 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:06.736Z,1761365046.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-10-25T04:04:06.749Z,1761365046.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.300003 m,
      deltaT: 3.779321 s,
      deltaX: -2.099998 m,
      approachRate: -0.555655 m/s,
      rangeRepo size: 4

2025-10-25T04:04:06.751Z,1761365046.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.894279 m,
      bearing: 336.732082 deg,
      lat: 36.779476 deg,
      lon: -121.859687 deg,
      deltaT: 3.779321 s,
      deltaX: -2.090820 m,
      approachRate: -0.553226 m/s,
      posRepo size: 4

2025-10-25T04:04:06.752Z,1761365046.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:06.766Z,1761365046.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 84.272293 m,
      bearing: 337.612972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003262 deg/s,
      cmd heading: 332.576445 deg,
      new cmd heading: 332.571023 deg.

2025-10-25T04:04:06.767Z,1761365046.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804460 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:06.986Z,1761365046.986 [DAT](INFO): DAT read: TxSync time:04:04:06.2232

2025-10-25T04:04:06.987Z,1761365046.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252577
2025-10-25T04:04:07.076Z,1761365047.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890031,0.452334,-0.056903],[-0.455682,0.886501,-0.080437],[0.014060,0.097522,0.995134]]
2025-10-25T04:04:07.140Z,1761365047.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:07.143Z,1761365047.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 84.046776 m,
      bearing: 337.616817 deg,
      approach rate: -0.569946 m/s,
      LOS rate: 0.009745 deg/s,
      cmd heading: 332.571036 deg,
      new cmd heading: 332.582603 deg.

2025-10-25T04:04:07.144Z,1761365047.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804661 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:07.239Z,1761365047.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503743
2025-10-25T04:04:07.460Z,1761365047.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889675,0.454702,-0.041529],[-0.456329,0.888573,-0.046917],[0.015568,0.060692,0.998035]]
2025-10-25T04:04:07.481Z,1761365047.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:07.484Z,1761365047.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 83.866089 m,
      bearing: 337.620044 deg,
      approach rate: -0.529840 m/s,
      LOS rate: 0.009482 deg/s,
      cmd heading: 332.582593 deg,
      new cmd heading: 332.592294 deg.

2025-10-25T04:04:07.490Z,1761365047.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754871
2025-10-25T04:04:07.505Z,1761365047.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804831 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:07.742Z,1761365047.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007289
2025-10-25T04:04:07.817Z,1761365047.817 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:04:07.864Z,1761365047.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888995,0.456112,-0.040616],[-0.457652,0.887995,-0.044941],[0.015569,0.058541,0.998164]]
2025-10-25T04:04:07.912Z,1761365047.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:07.915Z,1761365047.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:07.918Z,1761365047.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 83.629105 m,
      bearing: 337.628936 deg,
      approach rate: -0.546150 m/s,
      LOS rate: 0.020550 deg/s,
      cmd heading: 332.592291 deg,
      new cmd heading: 332.619042 deg.

2025-10-25T04:04:07.919Z,1761365047.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805297 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:07.995Z,1761365047.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259630
2025-10-25T04:04:08.247Z,1761365048.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512167
2025-10-25T04:04:08.285Z,1761365048.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888902,0.456246,-0.041148],[-0.457822,0.887891,-0.045254],[0.015888,0.059065,0.998128]]
2025-10-25T04:04:08.315Z,1761365048.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:08.317Z,1761365048.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 83.411423 m,
      bearing: 337.637176 deg,
      approach rate: -0.545047 m/s,
      LOS rate: 0.020686 deg/s,
      cmd heading: 332.619038 deg,
      new cmd heading: 332.643823 deg.

2025-10-25T04:04:08.318Z,1761365048.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805730 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:08.498Z,1761365048.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875
2025-10-25T04:04:08.750Z,1761365048.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806
2025-10-25T04:04:08.821Z,1761365048.821 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:04:08.838Z,1761365048.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:08.862Z,1761365048.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 83.123955 m,
      bearing: 337.654602 deg,
      approach rate: -0.548899 m/s,
      LOS rate: 0.033389 deg/s,
      cmd heading: 332.643818 deg,
      new cmd heading: 332.696277 deg.

2025-10-25T04:04:08.863Z,1761365048.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806645 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:09.003Z,1761365049.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267812
2025-10-25T04:04:09.215Z,1761365049.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:09.220Z,1761365049.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 82.909248 m,
      bearing: 337.667696 deg,
      approach rate: -0.569549 m/s,
      LOS rate: 0.034824 deg/s,
      cmd heading: 332.696274 deg,
      new cmd heading: 332.735658 deg.

2025-10-25T04:04:09.224Z,1761365049.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807333 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:09.254Z,1761365049.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519275
2025-10-25T04:04:09.506Z,1761365049.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701
2025-10-25T04:04:09.564Z,1761365049.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888575,0.456731,-0.042786],[-0.458433,0.887485,-0.046996],[0.016508,0.061374,0.997978]]
2025-10-25T04:04:09.597Z,1761365049.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:09.599Z,1761365049.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 82.698257 m,
      bearing: 337.680725 deg,
      approach rate: -0.553677 m/s,
      LOS rate: 0.034279 deg/s,
      cmd heading: 332.735671 deg,
      new cmd heading: 332.774859 deg.

2025-10-25T04:04:09.600Z,1761365049.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808017 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:09.758Z,1761365049.758 [DAT](INFO): DAT read: Rx Time:04:04:08.7394

2025-10-25T04:04:09.758Z,1761365049.758 [DAT](INFO): Rx dataTimestamp_ set to:1761365049.757879
2025-10-25T04:04:09.759Z,1761365049.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023901
2025-10-25T04:04:09.969Z,1761365049.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888707,0.456355,-0.044036],[-0.458173,0.887501,-0.049191],[0.016634,0.063892,0.997818]]
2025-10-25T04:04:10.013Z,1761365050.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277966
2025-10-25T04:04:10.045Z,1761365050.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:10.059Z,1761365050.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.89 m.
2025-10-25T04:04:10.066Z,1761365050.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.894279 m,
      nav range: 82.448914 m,
      bearing: 337.700062 deg,
      approach rate: -0.540413 m/s,
      LOS rate: 0.042035 deg/s,
      cmd heading: 332.774849 deg,
      new cmd heading: 332.833033 deg.

2025-10-25T04:04:10.067Z,1761365050.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809032 target range: 84.894279 and range: 85.30 m.
2025-10-25T04:04:10.267Z,1761365050.267 [DAT](INFO): DAT read: 04:04:08.7394 LVL= 18384, 31729, 17586, 31763, AGC= 67, IDX= 416, 0.14,-2.578, 2.247,-2.682,-3.051, PHS= 0.561,-0.938, 0.366, RAW= 143.1,   0.2, CAL= 147.2,  -8.8, ROT=   2.8,   8.8

2025-10-25T04:04:10.268Z,1761365050.268 [DAT](INFO): got valid direction response:
 04:04:08.7394 LVL= 18384, 31729, 17586, 31763, AGC= 67, IDX= 416, 0.14,-2.578, 2.247,-2.682,-3.051, PHS= 0.561,-0.938, 0.366, RAW= 143.1,   0.2, CAL= 147.2,  -8.8, ROT=   2.8,   8.8

2025-10-25T04:04:10.269Z,1761365050.269 [DAT](INFO): DAT read: Bearing   2.8,   8.8 (Local)

2025-10-25T04:04:10.269Z,1761365050.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,   8.8 (Local)

2025-10-25T04:04:10.271Z,1761365050.271 [DAT](INFO): DAT read: Range 10 to 50 : 83.4 m  (Round-trip  111.3 ms) speed  0.5 m/s

2025-10-25T04:04:10.271Z,1761365050.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:10.272Z,1761365050.272 [DAT](INFO): direction in FSK: [0.987049,0.048275,-0.152986]
2025-10-25T04:04:10.273Z,1761365050.273 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:10.277Z,1761365050.277 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:10.277Z,1761365050.277 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:10.278Z,1761365050.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:10.382Z,1761365050.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889045,0.455593,-0.045107],[-0.457517,0.887718,-0.051327],[0.016658,0.066269,0.997663]]
2025-10-25T04:04:10.466Z,1761365050.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.400002 m,
      deltaT: 3.779875 s,
      deltaX: -1.900002 m,
      approachRate: -0.502663 m/s,
      rangeRepo size: 4

2025-10-25T04:04:10.468Z,1761365050.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.003639 m,
      bearing: 336.141595 deg,
      lat: 36.779476 deg,
      lon: -121.859687 deg,
      deltaT: 3.779875 s,
      deltaX: -1.890640 m,
      approachRate: -0.500186 m/s,
      posRepo size: 4

2025-10-25T04:04:10.468Z,1761365050.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:10.475Z,1761365050.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 82.210289 m,
      bearing: 337.718545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042035 deg/s,
      cmd heading: 332.833042 deg,
      new cmd heading: 332.883853 deg.

2025-10-25T04:04:10.476Z,1761365050.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809919 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:10.516Z,1761365050.516 [DAT](INFO): DAT read: user:317>

2025-10-25T04:04:10.517Z,1761365050.517 [DAT](INFO): DAT read: Tx time:04:04:09.9740

2025-10-25T04:04:10.518Z,1761365050.518 [DAT](INFO): Ping request sent.
2025-10-25T04:04:10.518Z,1761365050.518 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:10.518Z,1761365050.518 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:10.518Z,1761365050.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-10-25T04:04:10.766Z,1761365050.766 [DAT](INFO): DAT read: TxSync time:04:04:09.9732

2025-10-25T04:04:10.767Z,1761365050.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249194
2025-10-25T04:04:10.809Z,1761365050.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889699,0.454204,-0.046211],[-0.456242,0.888243,-0.053550],[0.016724,0.068727,0.997495]]
2025-10-25T04:04:10.872Z,1761365050.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:10.875Z,1761365050.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 81.960258 m,
      bearing: 337.742107 deg,
      approach rate: -0.608218 m/s,
      LOS rate: 0.057491 deg/s,
      cmd heading: 332.883858 deg,
      new cmd heading: 332.954760 deg.

2025-10-25T04:04:10.876Z,1761365050.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811157 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:11.018Z,1761365051.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500040
2025-10-25T04:04:11.190Z,1761365051.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889765,0.453822,-0.048616],[-0.456082,0.888139,-0.056545],[0.017517,0.072484,0.997216]]
2025-10-25T04:04:11.218Z,1761365051.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:11.221Z,1761365051.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 81.758240 m,
      bearing: 337.761211 deg,
      approach rate: -0.582709 m/s,
      LOS rate: 0.055240 deg/s,
      cmd heading: 332.954756 deg,
      new cmd heading: 333.012210 deg.

2025-10-25T04:04:11.222Z,1761365051.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812160 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:11.270Z,1761365051.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752115
2025-10-25T04:04:11.521Z,1761365051.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003779
2025-10-25T04:04:11.580Z,1761365051.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889629,0.453856,-0.050752],[-0.456306,0.887910,-0.058318],[0.018595,0.075040,0.997007]]
2025-10-25T04:04:11.608Z,1761365051.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:11.611Z,1761365051.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 81.529243 m,
      bearing: 337.783013 deg,
      approach rate: -0.588176 m/s,
      LOS rate: 0.056155 deg/s,
      cmd heading: 333.012211 deg,
      new cmd heading: 333.077801 deg.

2025-10-25T04:04:11.612Z,1761365051.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813304 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:11.774Z,1761365051.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255935
2025-10-25T04:04:11.994Z,1761365051.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891291,0.449817,-0.057138],[-0.452994,0.888867,-0.068641],[0.019912,0.087063,0.996004]]
2025-10-25T04:04:12.026Z,1761365052.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507968
2025-10-25T04:04:12.065Z,1761365052.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:12.067Z,1761365052.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:12.074Z,1761365052.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 81.263458 m,
      bearing: 337.807401 deg,
      approach rate: -0.578275 m/s,
      LOS rate: 0.053236 deg/s,
      cmd heading: 333.077809 deg,
      new cmd heading: 333.151214 deg.

2025-10-25T04:04:12.075Z,1761365052.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814586 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:12.278Z,1761365052.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760149
2025-10-25T04:04:12.402Z,1761365052.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892411,0.447331,-0.059143],[-0.450773,0.889687,-0.072536],[0.020171,0.091392,0.995611]]
2025-10-25T04:04:12.420Z,1761365052.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:12.424Z,1761365052.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 81.047150 m,
      bearing: 337.826969 deg,
      approach rate: -0.614208 m/s,
      LOS rate: 0.055711 deg/s,
      cmd heading: 333.151219 deg,
      new cmd heading: 333.210079 deg.

2025-10-25T04:04:12.427Z,1761365052.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815613 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:12.541Z,1761365052.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023508
2025-10-25T04:04:12.788Z,1761365052.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269961
2025-10-25T04:04:12.865Z,1761365052.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:12.868Z,1761365052.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 80.783539 m,
      bearing: 337.848640 deg,
      approach rate: -0.592079 m/s,
      LOS rate: 0.048832 deg/s,
      cmd heading: 333.210068 deg,
      new cmd heading: 333.275293 deg.

2025-10-25T04:04:12.885Z,1761365052.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816751 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:13.038Z,1761365053.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519787
2025-10-25T04:04:13.198Z,1761365053.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892316,0.447080,-0.062387],[-0.450907,0.889300,-0.076339],[0.021351,0.096249,0.995128]]
2025-10-25T04:04:13.242Z,1761365053.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:13.246Z,1761365053.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 80.569824 m,
      bearing: 337.866334 deg,
      approach rate: -0.566175 m/s,
      LOS rate: 0.046998 deg/s,
      cmd heading: 333.275283 deg,
      new cmd heading: 333.328505 deg.

2025-10-25T04:04:13.247Z,1761365053.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817680 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:13.291Z,1761365053.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772703
2025-10-25T04:04:13.542Z,1761365053.542 [DAT](INFO): DAT read: Rx Time:04:04:12.4865

2025-10-25T04:04:13.542Z,1761365053.542 [DAT](INFO): Rx dataTimestamp_ set to:1761365053.541800
2025-10-25T04:04:13.543Z,1761365053.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024931
2025-10-25T04:04:13.616Z,1761365053.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891517,0.448488,-0.063688],[-0.452438,0.888515,-0.076432],[0.022309,0.096956,0.995039]]
2025-10-25T04:04:13.635Z,1761365053.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.00 m.
2025-10-25T04:04:13.650Z,1761365053.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.003639 m,
      nav range: 80.325470 m,
      bearing: 337.886985 deg,
      approach rate: -0.622425 m/s,
      LOS rate: 0.052764 deg/s,
      cmd heading: 333.328504 deg,
      new cmd heading: 333.390647 deg.

2025-10-25T04:04:13.651Z,1761365053.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818765 target range: 83.003639 and range: 83.40 m.
2025-10-25T04:04:13.795Z,1761365053.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277018
2025-10-25T04:04:14.006Z,1761365054.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890293,0.450776,-0.064646],[-0.454789,0.887397,-0.075454],[0.023354,0.096576,0.995052]]
2025-10-25T04:04:14.053Z,1761365054.053 [DAT](INFO): DAT read: 04:04:12.4865 LVL= 18768, 26849, 18834, 29939, AGC= 66, IDX= 418,-0.33,-2.568, 2.340,-2.655,-3.011, PHS= 0.531,-0.885, 0.353, RAW= 143.4,   0.0, CAL= 147.5,  -9.0, ROT=   2.5,   9.0

2025-10-25T04:04:14.054Z,1761365054.054 [DAT](INFO): got valid direction response:
 04:04:12.4865 LVL= 18768, 26849, 18834, 29939, AGC= 66, IDX= 418,-0.33,-2.568, 2.340,-2.655,-3.011, PHS= 0.531,-0.885, 0.353, RAW= 143.4,   0.0, CAL= 147.5,  -9.0, ROT=   2.5,   9.0

2025-10-25T04:04:14.055Z,1761365054.055 [DAT](INFO): DAT read: Bearing   2.5,   9.0 (Local)

2025-10-25T04:04:14.055Z,1761365054.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   9.0 (Local)

2025-10-25T04:04:14.056Z,1761365054.056 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m  (Round-trip  108.3 ms) speed  0.8 m/s

2025-10-25T04:04:14.058Z,1761365054.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:14.059Z,1761365054.059 [DAT](INFO): direction in FSK: [0.986748,0.043082,-0.156434]
2025-10-25T04:04:14.059Z,1761365054.059 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:14.064Z,1761365054.064 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:14.064Z,1761365054.064 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:14.064Z,1761365054.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:14.130Z,1761365054.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.199997 m,
      deltaT: 3.784569 s,
      deltaX: -2.200005 m,
      approachRate: -0.581309 m/s,
      rangeRepo size: 4

2025-10-25T04:04:14.132Z,1761365054.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.813667 m,
      bearing: 336.293074 deg,
      lat: 36.779472 deg,
      lon: -121.859701 deg,
      deltaT: 3.784569 s,
      deltaX: -2.189972 m,
      approachRate: -0.578658 m/s,
      posRepo size: 4

2025-10-25T04:04:14.138Z,1761365054.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:14.145Z,1761365054.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 80.150467 m,
      bearing: 336.981279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.052764 deg/s,
      cmd heading: 333.390659 deg,
      new cmd heading: 333.466186 deg.

2025-10-25T04:04:14.147Z,1761365054.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820083 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:14.298Z,1761365054.298 [DAT](INFO): DAT read: user:318>

2025-10-25T04:04:14.299Z,1761365054.299 [DAT](INFO): DAT read: Tx time:04:04:13.7740

2025-10-25T04:04:14.300Z,1761365054.300 [DAT](INFO): Ping request sent.
2025-10-25T04:04:14.300Z,1761365054.300 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:14.301Z,1761365054.301 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:14.302Z,1761365054.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001755
2025-10-25T04:04:14.419Z,1761365054.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889415,0.452373,-0.065575],[-0.456461,0.886571,-0.075063],[0.024180,0.096695,0.995020]]
2025-10-25T04:04:14.453Z,1761365054.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:14.456Z,1761365054.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:14.486Z,1761365054.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 79.910713 m,
      bearing: 336.999128 deg,
      approach rate: -0.698010 m/s,
      LOS rate: 0.052122 deg/s,
      cmd heading: 333.466173 deg,
      new cmd heading: 333.519882 deg.

2025-10-25T04:04:14.487Z,1761365054.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821020 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:14.551Z,1761365054.551 [DAT](INFO): DAT read: TxSync time:04:04:13.7732

2025-10-25T04:04:14.553Z,1761365054.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252542
2025-10-25T04:04:14.805Z,1761365054.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504172
2025-10-25T04:04:14.836Z,1761365054.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888389,0.453969,-0.068386],[-0.458353,0.885507,-0.076094],[0.026012,0.098946,0.994753]]
2025-10-25T04:04:14.890Z,1761365054.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:14.893Z,1761365054.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 79.642639 m,
      bearing: 337.005225 deg,
      approach rate: -0.617251 m/s,
      LOS rate: 0.014085 deg/s,
      cmd heading: 333.519886 deg,
      new cmd heading: 333.538237 deg.

2025-10-25T04:04:14.894Z,1761365054.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821341 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:15.054Z,1761365055.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753665
2025-10-25T04:04:15.218Z,1761365055.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886627,0.457263,-0.069301],[-0.461684,0.883912,-0.074478],[0.027200,0.098029,0.994812]]
2025-10-25T04:04:15.238Z,1761365055.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:15.269Z,1761365055.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 79.433029 m,
      bearing: 337.010588 deg,
      approach rate: -0.601265 m/s,
      LOS rate: 0.015426 deg/s,
      cmd heading: 333.538245 deg,
      new cmd heading: 333.554379 deg.

2025-10-25T04:04:15.271Z,1761365055.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821622 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:15.306Z,1761365055.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006185
2025-10-25T04:04:15.558Z,1761365055.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257971
2025-10-25T04:04:15.623Z,1761365055.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885944,0.458287,-0.071256],[-0.462922,0.883192,-0.075332],[0.028410,0.099726,0.994609]]
2025-10-25T04:04:15.642Z,1761365055.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:15.647Z,1761365055.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 79.187668 m,
      bearing: 337.017159 deg,
      approach rate: -0.607775 m/s,
      LOS rate: 0.016326 deg/s,
      cmd heading: 333.554392 deg,
      new cmd heading: 333.574165 deg.

2025-10-25T04:04:15.648Z,1761365055.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821968 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:15.814Z,1761365055.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513731
2025-10-25T04:04:16.025Z,1761365056.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886175,0.457877,-0.071003],[-0.462518,0.883316,-0.076360],[0.027754,0.100508,0.994549]]
2025-10-25T04:04:16.063Z,1761365056.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762448
2025-10-25T04:04:16.081Z,1761365056.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:16.083Z,1761365056.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 78.931686 m,
      bearing: 337.021252 deg,
      approach rate: -0.583762 m/s,
      LOS rate: 0.009364 deg/s,
      cmd heading: 333.574172 deg,
      new cmd heading: 333.586490 deg.

2025-10-25T04:04:16.105Z,1761365056.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822183 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:16.314Z,1761365056.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014425
2025-10-25T04:04:16.427Z,1761365056.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886910,0.456345,-0.071700],[-0.461115,0.883880,-0.078290],[0.027647,0.102499,0.994349]]
2025-10-25T04:04:16.471Z,1761365056.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:16.477Z,1761365056.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:16.480Z,1761365056.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 78.712669 m,
      bearing: 337.024534 deg,
      approach rate: -0.552102 m/s,
      LOS rate: 0.008298 deg/s,
      cmd heading: 333.586494 deg,
      new cmd heading: 333.596369 deg.

2025-10-25T04:04:16.490Z,1761365056.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822355 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:16.566Z,1761365056.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266643
2025-10-25T04:04:16.821Z,1761365056.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520264
2025-10-25T04:04:16.870Z,1761365056.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886974,0.456175,-0.071989],[-0.460993,0.883889,-0.078908],[0.027635,0.103176,0.994279]]
2025-10-25T04:04:16.920Z,1761365056.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:16.922Z,1761365056.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 78.454597 m,
      bearing: 337.015993 deg,
      approach rate: -0.583444 m/s,
      LOS rate: -0.019374 deg/s,
      cmd heading: 333.596356 deg,
      new cmd heading: 333.570648 deg.

2025-10-25T04:04:16.923Z,1761365056.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821906 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:17.069Z,1761365057.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769615
2025-10-25T04:04:17.244Z,1761365057.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887496,0.455172,-0.071896],[-0.460007,0.884327,-0.079749],[0.027280,0.103849,0.994219]]
2025-10-25T04:04:17.264Z,1761365057.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:17.267Z,1761365057.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 78.263390 m,
      bearing: 337.009477 deg,
      approach rate: -0.555436 m/s,
      LOS rate: -0.018975 deg/s,
      cmd heading: 333.570648 deg,
      new cmd heading: 333.551051 deg.

2025-10-25T04:04:17.268Z,1761365057.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821564 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:17.322Z,1761365057.322 [DAT](INFO): DAT read: Rx Time:04:04:16.2833

2025-10-25T04:04:17.322Z,1761365057.322 [DAT](INFO): Rx dataTimestamp_ set to:1761365057.321935
2025-10-25T04:04:17.323Z,1761365057.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022931
2025-10-25T04:04:17.573Z,1761365057.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273595
2025-10-25T04:04:17.644Z,1761365057.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887775,0.454635,-0.071856],[-0.459486,0.884537,-0.080422],[0.026997,0.104413,0.994168]]
2025-10-25T04:04:17.674Z,1761365057.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.81 m.
2025-10-25T04:04:17.677Z,1761365057.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.813667 m,
      nav range: 78.035187 m,
      bearing: 337.001564 deg,
      approach rate: -0.556294 m/s,
      LOS rate: -0.019345 deg/s,
      cmd heading: 333.551059 deg,
      new cmd heading: 333.527251 deg.

2025-10-25T04:04:17.678Z,1761365057.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821149 target range: 80.813667 and range: 81.20 m.
2025-10-25T04:04:17.856Z,1761365057.856 [DAT](INFO): DAT read: 04:04:16.2833 LVL= 19840, 32753, 18578, 32755, AGC= 67, IDX= 400, 0.45, 1.462,-0.030, 1.380, 0.982, PHS= 0.568,-0.965, 0.395, RAW= 144.1,   0.0, CAL= 148.1,  -8.9, ROT=   1.9,   8.9

2025-10-25T04:04:17.869Z,1761365057.869 [DAT](INFO): got valid direction response:
 04:04:16.2833 LVL= 19840, 32753, 18578, 32755, AGC= 67, IDX= 400, 0.45, 1.462,-0.030, 1.380, 0.982, PHS= 0.568,-0.965, 0.395, RAW= 144.1,   0.0, CAL= 148.1,  -8.9, ROT=   1.9,   8.9

2025-10-25T04:04:17.870Z,1761365057.870 [DAT](INFO): DAT read: Bearing   1.9,   8.9 (Local)

2025-10-25T04:04:17.870Z,1761365057.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   8.9 (Local)

2025-10-25T04:04:17.872Z,1761365057.872 [DAT](INFO): DAT read: Range 10 to 50 : 78.8 m  (Round-trip  105.1 ms) speed  0.4 m/s

2025-10-25T04:04:17.877Z,1761365057.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:17.878Z,1761365057.878 [DAT](INFO): direction in FSK: [0.987417,0.032756,-0.154710]
2025-10-25T04:04:17.879Z,1761365057.879 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:17.891Z,1761365057.891 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:17.891Z,1761365057.891 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:17.892Z,1761365057.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:18.049Z,1761365058.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888271,0.453652,-0.071932],[-0.458532,0.884970,-0.081095],[0.026869,0.105018,0.994107]]
2025-10-25T04:04:18.078Z,1761365058.078 [DAT](INFO): DAT read: user:319>

2025-10-25T04:04:18.079Z,1761365058.079 [DAT](INFO): DAT read: Tx time:04:04:17.6241

2025-10-25T04:04:18.080Z,1761365058.080 [DAT](INFO): Ping request sent.
2025-10-25T04:04:18.080Z,1761365058.080 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:18.080Z,1761365058.080 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:18.081Z,1761365058.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000885
2025-10-25T04:04:18.155Z,1761365058.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.800003 m,
      deltaT: 3.781978 s,
      deltaX: -2.399994 m,
      approachRate: -0.634587 m/s,
      rangeRepo size: 4

2025-10-25T04:04:18.165Z,1761365058.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.424294 m,
      bearing: 335.517349 deg,
      lat: 36.779468 deg,
      lon: -121.859711 deg,
      deltaT: 3.781978 s,
      deltaX: -2.389374 m,
      approachRate: -0.631779 m/s,
      posRepo size: 4

2025-10-25T04:04:18.166Z,1761365058.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:18.173Z,1761365058.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 77.781197 m,
      bearing: 336.276230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019345 deg/s,
      cmd heading: 333.527262 deg,
      new cmd heading: 333.499963 deg.

2025-10-25T04:04:18.174Z,1761365058.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820673 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:18.330Z,1761365058.330 [DAT](INFO): DAT read: TxSync time:04:04:17.6233

2025-10-25T04:04:18.331Z,1761365058.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866
2025-10-25T04:04:18.451Z,1761365058.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888638,0.452915,-0.072039],[-0.457823,0.885291,-0.081591],[0.026822,0.105486,0.994059]]
2025-10-25T04:04:18.471Z,1761365058.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:18.474Z,1761365058.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:18.476Z,1761365058.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 77.599701 m,
      bearing: 336.259922 deg,
      approach rate: -0.551385 m/s,
      LOS rate: -0.049658 deg/s,
      cmd heading: 333.499969 deg,
      new cmd heading: 333.450932 deg.

2025-10-25T04:04:18.477Z,1761365058.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819817 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:18.582Z,1761365058.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502250
2025-10-25T04:04:18.836Z,1761365058.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755330
2025-10-25T04:04:18.897Z,1761365058.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889295,0.452491,-0.066383],[-0.456454,0.887185,-0.067478],[0.028360,0.090309,0.995510]]
2025-10-25T04:04:18.942Z,1761365058.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:18.946Z,1761365058.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 77.350494 m,
      bearing: 336.227473 deg,
      approach rate: -0.532005 m/s,
      LOS rate: -0.069496 deg/s,
      cmd heading: 333.450928 deg,
      new cmd heading: 333.353266 deg.

2025-10-25T04:04:18.947Z,1761365058.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818112 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:19.086Z,1761365059.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005582
2025-10-25T04:04:19.266Z,1761365059.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890308,0.450516,-0.066238],[-0.454451,0.888266,-0.066765],[0.028758,0.089543,0.995568]]
2025-10-25T04:04:19.307Z,1761365059.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:19.314Z,1761365059.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 77.169899 m,
      bearing: 336.203507 deg,
      approach rate: -0.495696 m/s,
      LOS rate: -0.065936 deg/s,
      cmd heading: 333.353256 deg,
      new cmd heading: 333.281190 deg.

2025-10-25T04:04:19.315Z,1761365059.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816854 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:19.338Z,1761365059.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257485
2025-10-25T04:04:19.590Z,1761365059.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509401
2025-10-25T04:04:19.665Z,1761365059.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892187,0.446696,-0.066813],[-0.450718,0.890096,-0.067686],[0.029235,0.090503,0.995467]]
2025-10-25T04:04:19.685Z,1761365059.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:19.687Z,1761365059.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 76.959885 m,
      bearing: 336.174824 deg,
      approach rate: -0.555190 m/s,
      LOS rate: -0.076032 deg/s,
      cmd heading: 333.281184 deg,
      new cmd heading: 333.194901 deg.

2025-10-25T04:04:19.689Z,1761365059.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815348 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:19.845Z,1761365059.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763826
2025-10-25T04:04:20.094Z,1761365060.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013450
2025-10-25T04:04:20.127Z,1761365060.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +0.42,     ,  09,   8.41,  0.00
2025-10-25T04:04:20.187Z,1761365060.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:20.196Z,1761365060.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 76.713356 m,
      bearing: 336.140951 deg,
      approach rate: -0.491041 m/s,
      LOS rate: -0.067686 deg/s,
      cmd heading: 333.194905 deg,
      new cmd heading: 333.092959 deg.

2025-10-25T04:04:20.214Z,1761365060.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813569 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:20.346Z,1761365060.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266328
2025-10-25T04:04:20.480Z,1761365060.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896899,0.437157,-0.066829],[-0.441359,0.894355,-0.073025],[0.027846,0.094991,0.995089]]
2025-10-25T04:04:20.496Z,1761365060.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:20.502Z,1761365060.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:20.505Z,1761365060.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 76.531036 m,
      bearing: 336.114307 deg,
      approach rate: -0.581286 m/s,
      LOS rate: -0.085151 deg/s,
      cmd heading: 333.092972 deg,
      new cmd heading: 333.012849 deg.

2025-10-25T04:04:20.506Z,1761365060.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812171 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:20.598Z,1761365060.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518133
2025-10-25T04:04:20.852Z,1761365060.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771152
2025-10-25T04:04:20.922Z,1761365060.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898722,0.433268,-0.067655],[-0.437662,0.895866,-0.076661],[0.027396,0.098507,0.994759]]
2025-10-25T04:04:20.990Z,1761365060.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:20.992Z,1761365060.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 76.276016 m,
      bearing: 336.091723 deg,
      approach rate: -0.521369 m/s,
      LOS rate: -0.046325 deg/s,
      cmd heading: 333.012840 deg,
      new cmd heading: 332.944862 deg.

2025-10-25T04:04:20.997Z,1761365060.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810984 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:21.102Z,1761365061.102 [DAT](INFO): DAT read: Rx Time:04:04:20.1307

2025-10-25T04:04:21.102Z,1761365061.102 [DAT](INFO): Rx dataTimestamp_ set to:1761365061.102095
2025-10-25T04:04:21.103Z,1761365061.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022786
2025-10-25T04:04:21.288Z,1761365061.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899952,0.430676,-0.067860],[-0.435166,0.896869,-0.079096],[0.026797,0.100713,0.994555]]
2025-10-25T04:04:21.324Z,1761365061.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.42 m.
2025-10-25T04:04:21.330Z,1761365061.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.424294 m,
      nav range: 76.100044 m,
      bearing: 336.075675 deg,
      approach rate: -0.526769 m/s,
      LOS rate: -0.048150 deg/s,
      cmd heading: 332.944866 deg,
      new cmd heading: 332.896611 deg.

2025-10-25T04:04:21.331Z,1761365061.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810142 target range: 78.424294 and range: 78.80 m.
2025-10-25T04:04:21.353Z,1761365061.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273334
2025-10-25T04:04:21.614Z,1761365061.614 [DAT](INFO): DAT read: 04:04:20.1307 LVL= 19376, 25825, 17330, 29939, AGC= 66, IDX= 421, 0.16, 1.894, 0.455, 1.906, 1.441, PHS= 0.542,-0.939, 0.462, RAW= 147.3,  -0.9, CAL= 151.1,  -9.9, ROT= 358.9,   9.9

2025-10-25T04:04:21.616Z,1761365061.616 [DAT](INFO): got valid direction response:
 04:04:20.1307 LVL= 19376, 25825, 17330, 29939, AGC= 66, IDX= 421, 0.16, 1.894, 0.455, 1.906, 1.441, PHS= 0.542,-0.939, 0.462, RAW= 147.3,  -0.9, CAL= 151.1,  -9.9, ROT= 358.9,   9.9

2025-10-25T04:04:21.629Z,1761365061.629 [DAT](INFO): DAT read: Bearing 358.9,   9.9 (Local)

2025-10-25T04:04:21.631Z,1761365061.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,   9.9 (Local)

2025-10-25T04:04:21.633Z,1761365061.633 [DAT](INFO): DAT read: Range 10 to 50 : 76.8 m  (Round-trip  102.5 ms) speed  0.4 m/s

2025-10-25T04:04:21.633Z,1761365061.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:21.634Z,1761365061.634 [DAT](INFO): direction in FSK: [0.984928,-0.018912,-0.171929]
2025-10-25T04:04:21.635Z,1761365061.635 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:21.638Z,1761365061.638 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:21.638Z,1761365061.638 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:21.638Z,1761365061.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:21.725Z,1761365061.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900681,0.429079,-0.068296],[-0.433692,0.897332,-0.081891],[0.026146,0.103377,0.994299]]
2025-10-25T04:04:21.775Z,1761365061.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.800003 m,
      deltaT: 3.777772 s,
      deltaX: -2.000000 m,
      approachRate: -0.529413 m/s,
      rangeRepo size: 4

2025-10-25T04:04:21.786Z,1761365061.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.433609 m,
      bearing: 334.228742 deg,
      lat: 36.779468 deg,
      lon: -121.859711 deg,
      deltaT: 3.777772 s,
      deltaX: -1.990685 m,
      approachRate: -0.526947 m/s,
      posRepo size: 4

2025-10-25T04:04:21.786Z,1761365061.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:21.793Z,1761365061.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 75.849442 m,
      bearing: 336.043688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048150 deg/s,
      cmd heading: 332.896617 deg,
      new cmd heading: 332.831453 deg.

2025-10-25T04:04:21.794Z,1761365061.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809005 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:21.862Z,1761365061.862 [DAT](INFO): DAT read: user:320>

2025-10-25T04:04:21.867Z,1761365061.867 [DAT](INFO): DAT read: Tx time:04:04:21.3241

2025-10-25T04:04:21.869Z,1761365061.869 [DAT](INFO): Ping request sent.
2025-10-25T04:04:21.869Z,1761365061.869 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:21.870Z,1761365061.870 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:21.872Z,1761365061.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003318
2025-10-25T04:04:22.110Z,1761365062.110 [DAT](INFO): DAT read: TxSync time:04:04:21.3233

2025-10-25T04:04:22.110Z,1761365062.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242329
2025-10-25T04:04:22.171Z,1761365062.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:22.190Z,1761365062.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 75.619835 m,
      bearing: 336.032081 deg,
      approach rate: -0.579623 m/s,
      LOS rate: -0.029389 deg/s,
      cmd heading: 332.831457 deg,
      new cmd heading: 332.796531 deg.

2025-10-25T04:04:22.191Z,1761365062.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808395 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:22.362Z,1761365062.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494178
2025-10-25T04:04:22.518Z,1761365062.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898427,0.433993,-0.066932],[-0.438318,0.895530,-0.076831],[0.026596,0.098364,0.994795]]
2025-10-25T04:04:22.539Z,1761365062.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:22.541Z,1761365062.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:22.543Z,1761365062.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 75.420982 m,
      bearing: 336.022775 deg,
      approach rate: -0.537592 m/s,
      LOS rate: -0.025226 deg/s,
      cmd heading: 332.796541 deg,
      new cmd heading: 332.768548 deg.

2025-10-25T04:04:22.545Z,1761365062.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807907 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:22.614Z,1761365062.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745618
2025-10-25T04:04:22.866Z,1761365062.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997426
2025-10-25T04:04:22.956Z,1761365062.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896169,0.438684,-0.066619],[-0.442876,0.893560,-0.073566],[0.027256,0.095431,0.995063]]
2025-10-25T04:04:23.004Z,1761365063.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:23.006Z,1761365063.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 75.156952 m,
      bearing: 336.028350 deg,
      approach rate: -0.570452 m/s,
      LOS rate: 0.012089 deg/s,
      cmd heading: 332.768538 deg,
      new cmd heading: 332.785323 deg.

2025-10-25T04:04:23.007Z,1761365063.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808199 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:23.119Z,1761365063.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250543
2025-10-25T04:04:23.326Z,1761365063.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893408,0.444532,-0.064916],[-0.448399,0.891237,-0.068085],[0.027590,0.089936,0.995565]]
2025-10-25T04:04:23.348Z,1761365063.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:23.351Z,1761365063.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 74.960876 m,
      bearing: 336.033477 deg,
      approach rate: -0.568973 m/s,
      LOS rate: 0.014916 deg/s,
      cmd heading: 332.785313 deg,
      new cmd heading: 332.800733 deg.

2025-10-25T04:04:23.352Z,1761365063.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808468 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:23.370Z,1761365063.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501548
2025-10-25T04:04:23.623Z,1761365063.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754938
2025-10-25T04:04:23.725Z,1761365063.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892256,0.447198,-0.062396],[-0.450742,0.890314,-0.064594],[0.026666,0.085759,0.995959]]
2025-10-25T04:04:23.751Z,1761365063.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:23.754Z,1761365063.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 74.732407 m,
      bearing: 336.039973 deg,
      approach rate: -0.567458 m/s,
      LOS rate: 0.016184 deg/s,
      cmd heading: 332.800721 deg,
      new cmd heading: 332.820269 deg.

2025-10-25T04:04:23.755Z,1761365063.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808810 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:23.875Z,1761365063.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006324
2025-10-25T04:04:24.125Z,1761365064.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257314
2025-10-25T04:04:24.131Z,1761365064.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890456,0.450981,-0.060855],[-0.454309,0.888709,-0.061639],[0.026284,0.082533,0.996242]]
2025-10-25T04:04:24.194Z,1761365064.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:24.202Z,1761365064.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 74.485344 m,
      bearing: 336.060192 deg,
      approach rate: -0.557492 m/s,
      LOS rate: 0.045774 deg/s,
      cmd heading: 332.820283 deg,
      new cmd heading: 332.881140 deg.

2025-10-25T04:04:24.203Z,1761365064.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809872 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:24.378Z,1761365064.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509467
2025-10-25T04:04:24.540Z,1761365064.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888751,0.454349,-0.060732],[-0.457618,0.887119,-0.060052],[0.026591,0.081164,0.996346]]
2025-10-25T04:04:24.557Z,1761365064.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:24.559Z,1761365064.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:24.561Z,1761365064.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 74.255608 m,
      bearing: 336.079791 deg,
      approach rate: -0.629834 m/s,
      LOS rate: 0.053900 deg/s,
      cmd heading: 332.881126 deg,
      new cmd heading: 332.940108 deg.

2025-10-25T04:04:24.562Z,1761365064.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810901 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:24.631Z,1761365064.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762780
2025-10-25T04:04:24.882Z,1761365064.882 [DAT](INFO): DAT read: Rx Time:04:04:23.8281

2025-10-25T04:04:24.882Z,1761365064.882 [DAT](INFO): Rx dataTimestamp_ set to:1761365064.881785
2025-10-25T04:04:24.883Z,1761365064.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014517
2025-10-25T04:04:24.986Z,1761365064.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886691,0.458386,-0.060502],[-0.461560,0.885246,-0.057467],[0.027217,0.078881,0.996512]]
2025-10-25T04:04:25.038Z,1761365065.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:25.041Z,1761365065.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 73.963249 m,
      bearing: 336.116153 deg,
      approach rate: -0.610234 m/s,
      LOS rate: 0.076197 deg/s,
      cmd heading: 332.940112 deg,
      new cmd heading: 333.049627 deg.

2025-10-25T04:04:25.042Z,1761365065.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812813 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:25.134Z,1761365065.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266238
2025-10-25T04:04:25.341Z,1761365065.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885195,0.461175,-0.061222],[-0.464377,0.883826,-0.056619],[0.027999,0.078549,0.996517]]
2025-10-25T04:04:25.376Z,1761365065.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.43 m.
2025-10-25T04:04:25.380Z,1761365065.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.433609 m,
      nav range: 73.756958 m,
      bearing: 336.142513 deg,
      approach rate: -0.610815 m/s,
      LOS rate: 0.078269 deg/s,
      cmd heading: 333.049641 deg,
      new cmd heading: 333.128943 deg.

2025-10-25T04:04:25.381Z,1761365065.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814197 target range: 76.433609 and range: 76.80 m.
2025-10-25T04:04:25.391Z,1761365065.391 [DAT](INFO): DAT read: 04:04:23.8281 LVL= 18544, 27585, 16866, 27587, AGC= 64, IDX= 411,-0.47, 1.148,-0.262, 1.112, 0.714, PHS= 0.523,-0.929, 0.395, RAW= 145.5,   0.2, CAL= 149.2,  -8.8, ROT=   0.8,   8.8

2025-10-25T04:04:25.392Z,1761365065.392 [DAT](INFO): got valid direction response:
 04:04:23.8281 LVL= 18544, 27585, 16866, 27587, AGC= 64, IDX= 411,-0.47, 1.148,-0.262, 1.112, 0.714, PHS= 0.523,-0.929, 0.395, RAW= 145.5,   0.2, CAL= 149.2,  -8.8, ROT=   0.8,   8.8

2025-10-25T04:04:25.393Z,1761365065.393 [DAT](INFO): DAT read: Bearing   0.8,   8.8 (Local)

2025-10-25T04:04:25.394Z,1761365065.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,   8.8 (Local)

2025-10-25T04:04:25.396Z,1761365065.396 [DAT](INFO): DAT read: Range 10 to 50 : 74.9 m  (Round-trip  99.9 ms) speed  0.7 m/s

2025-10-25T04:04:25.418Z,1761365065.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:25.419Z,1761365065.419 [DAT](INFO): direction in FSK: [0.988132,0.013798,-0.152986]
2025-10-25T04:04:25.419Z,1761365065.419 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:25.427Z,1761365065.427 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:25.427Z,1761365065.427 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:25.427Z,1761365065.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:25.638Z,1761365065.638 [DAT](INFO): DAT read: user:321>

2025-10-25T04:04:25.640Z,1761365065.640 [DAT](INFO): DAT read: Tx time:04:04:25.1241

2025-10-25T04:04:25.641Z,1761365065.641 [DAT](INFO): Ping request sent.
2025-10-25T04:04:25.641Z,1761365065.641 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:25.641Z,1761365065.641 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:25.643Z,1761365065.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002260
2025-10-25T04:04:25.747Z,1761365065.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883584,0.464103,-0.062352],[-0.467372,0.882285,-0.055999],[0.029023,0.078621,0.996482]]
2025-10-25T04:04:25.771Z,1761365065.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.900002 m,
      deltaT: 3.779864 s,
      deltaX: -1.900002 m,
      approachRate: -0.502664 m/s,
      rangeRepo size: 4

2025-10-25T04:04:25.773Z,1761365065.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.544083 m,
      bearing: 333.612346 deg,
      lat: 36.779465 deg,
      lon: -121.859721 deg,
      deltaT: 3.779864 s,
      deltaX: -1.889526 m,
      approachRate: -0.499893 m/s,
      posRepo size: 4

2025-10-25T04:04:25.774Z,1761365065.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:25.776Z,1761365065.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 73.581390 m,
      bearing: 335.382138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078269 deg/s,
      cmd heading: 333.128953 deg,
      new cmd heading: 333.221637 deg.

2025-10-25T04:04:25.777Z,1761365065.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815814 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:25.891Z,1761365065.891 [DAT](INFO): DAT read: TxSync time:04:04:25.1233

2025-10-25T04:04:25.892Z,1761365065.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251610
2025-10-25T04:04:26.142Z,1761365066.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501063
2025-10-25T04:04:26.154Z,1761365066.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882538,0.465825,-0.064293],[-0.469283,0.881193,-0.057213],[0.030003,0.080664,0.996290]]
2025-10-25T04:04:26.227Z,1761365066.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:26.235Z,1761365066.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 73.303917 m,
      bearing: 335.416894 deg,
      approach rate: -0.607179 m/s,
      LOS rate: 0.076342 deg/s,
      cmd heading: 333.221625 deg,
      new cmd heading: 333.326287 deg.

2025-10-25T04:04:26.236Z,1761365066.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817641 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:26.394Z,1761365066.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753214
2025-10-25T04:04:26.558Z,1761365066.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882408,0.466285,-0.062729],[-0.469421,0.881515,-0.050755],[0.031630,0.074233,0.996739]]
2025-10-25T04:04:26.579Z,1761365066.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:26.598Z,1761365066.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:26.606Z,1761365066.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 73.082054 m,
      bearing: 335.444919 deg,
      approach rate: -0.627619 m/s,
      LOS rate: 0.079521 deg/s,
      cmd heading: 333.326291 deg,
      new cmd heading: 333.410622 deg.

2025-10-25T04:04:26.607Z,1761365066.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819113 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:26.646Z,1761365066.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005242
2025-10-25T04:04:26.898Z,1761365066.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257151
2025-10-25T04:04:27.079Z,1761365067.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:27.086Z,1761365067.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 72.792427 m,
      bearing: 335.475160 deg,
      approach rate: -0.582655 m/s,
      LOS rate: 0.061078 deg/s,
      cmd heading: 333.410630 deg,
      new cmd heading: 333.501713 deg.

2025-10-25T04:04:27.087Z,1761365067.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820703 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:27.150Z,1761365067.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509451
2025-10-25T04:04:27.402Z,1761365067.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761143
2025-10-25T04:04:27.415Z,1761365067.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:27.418Z,1761365067.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 72.580727 m,
      bearing: 335.497417 deg,
      approach rate: -0.628010 m/s,
      LOS rate: 0.066219 deg/s,
      cmd heading: 333.501717 deg,
      new cmd heading: 333.568684 deg.

2025-10-25T04:04:27.419Z,1761365067.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821872 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:27.654Z,1761365067.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013065
2025-10-25T04:04:27.788Z,1761365067.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885338,0.458683,-0.076067],[-0.463667,0.883138,-0.071274],[0.034485,0.098372,0.994552]]
2025-10-25T04:04:27.818Z,1761365067.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:27.821Z,1761365067.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 72.337997 m,
      bearing: 335.521863 deg,
      approach rate: -0.601547 m/s,
      LOS rate: 0.060785 deg/s,
      cmd heading: 333.568681 deg,
      new cmd heading: 333.642263 deg.

2025-10-25T04:04:27.822Z,1761365067.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823156 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:27.908Z,1761365067.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267920
2025-10-25T04:04:28.163Z,1761365068.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522664
2025-10-25T04:04:28.193Z,1761365068.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885954,0.457251,-0.077504],[-0.462479,0.883531,-0.074070],[0.034609,0.101466,0.994237]]
2025-10-25T04:04:28.234Z,1761365068.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:28.257Z,1761365068.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 72.093246 m,
      bearing: 335.533944 deg,
      approach rate: -0.588379 m/s,
      LOS rate: 0.029142 deg/s,
      cmd heading: 333.642255 deg,
      new cmd heading: 333.678622 deg.

2025-10-25T04:04:28.258Z,1761365068.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823791 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:28.414Z,1761365068.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773478
2025-10-25T04:04:28.595Z,1761365068.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886938,0.455184,-0.078416],[-0.460578,0.884362,-0.075966],[0.034770,0.103493,0.994022]]
2025-10-25T04:04:28.623Z,1761365068.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:28.625Z,1761365068.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:28.628Z,1761365068.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 71.862007 m,
      bearing: 335.545049 deg,
      approach rate: -0.591653 m/s,
      LOS rate: 0.028504 deg/s,
      cmd heading: 333.678619 deg,
      new cmd heading: 333.712041 deg.

2025-10-25T04:04:28.629Z,1761365068.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824374 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:28.666Z,1761365068.666 [DAT](INFO): DAT read: Rx Time:04:04:27.6250

2025-10-25T04:04:28.667Z,1761365068.667 [DAT](INFO): Rx dataTimestamp_ set to:1761365068.666427
2025-10-25T04:04:28.668Z,1761365068.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027100
2025-10-25T04:04:28.917Z,1761365068.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276975
2025-10-25T04:04:29.040Z,1761365069.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887899,0.453315,-0.078368],[-0.458717,0.885312,-0.076166],[0.034853,0.103576,0.994011]]
2025-10-25T04:04:29.137Z,1761365069.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.54 m.
2025-10-25T04:04:29.140Z,1761365069.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.544083 m,
      nav range: 71.576317 m,
      bearing: 335.540801 deg,
      approach rate: -0.557918 m/s,
      LOS rate: -0.008328 deg/s,
      cmd heading: 333.712033 deg,
      new cmd heading: 333.699238 deg.

2025-10-25T04:04:29.141Z,1761365069.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824151 target range: 74.544083 and range: 74.90 m.
2025-10-25T04:04:29.177Z,1761365069.177 [DAT](INFO): DAT read: 04:04:27.6250 LVL= 18096, 22641, 17218, 23939, AGC= 67, IDX= 410,-0.33,-3.116, 1.700, 3.110, 2.701, PHS= 0.554,-0.953, 0.406, RAW= 144.9,  -0.1, CAL= 148.8,  -9.1, ROT=   1.2,   9.1

2025-10-25T04:04:29.179Z,1761365069.179 [DAT](INFO): got valid direction response:
 04:04:27.6250 LVL= 18096, 22641, 17218, 23939, AGC= 67, IDX= 410,-0.33,-3.116, 1.700, 3.110, 2.701, PHS= 0.554,-0.953, 0.406, RAW= 144.9,  -0.1, CAL= 148.8,  -9.1, ROT=   1.2,   9.1

2025-10-25T04:04:29.181Z,1761365069.181 [DAT](INFO): DAT read: Bearing   1.2,   9.1 (Local)

2025-10-25T04:04:29.182Z,1761365069.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   9.1 (Local)

2025-10-25T04:04:29.184Z,1761365069.184 [DAT](INFO): DAT read: Range 10 to 50 : 72.4 m  (Round-trip  96.6 ms) speed  0.5 m/s

2025-10-25T04:04:29.185Z,1761365069.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:29.186Z,1761365069.186 [DAT](INFO): direction in FSK: [0.987197,0.020679,-0.158158]
2025-10-25T04:04:29.187Z,1761365069.187 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:29.193Z,1761365069.193 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:29.193Z,1761365069.193 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:29.194Z,1761365069.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:29.404Z,1761365069.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889058,0.451027,-0.078423],[-0.456468,0.886408,-0.076923],[0.034821,0.104187,0.993948]]
2025-10-25T04:04:29.422Z,1761365069.422 [DAT](INFO): DAT read: user:322>

2025-10-25T04:04:29.422Z,1761365069.422 [DAT](INFO): DAT read: Tx time:04:04:28.9242

2025-10-25T04:04:29.423Z,1761365069.423 [DAT](INFO): Ping request sent.
2025-10-25T04:04:29.423Z,1761365069.423 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:29.423Z,1761365069.423 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:29.424Z,1761365069.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-10-25T04:04:29.463Z,1761365069.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.400002 m,
      deltaT: 3.784155 s,
      deltaX: -2.500000 m,
      approachRate: -0.660649 m/s,
      rangeRepo size: 4

2025-10-25T04:04:29.474Z,1761365069.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.056244 m,
      bearing: 334.961916 deg,
      lat: 36.779463 deg,
      lon: -121.859729 deg,
      deltaT: 3.784155 s,
      deltaX: -2.487839 m,
      approachRate: -0.657436 m/s,
      posRepo size: 4

2025-10-25T04:04:29.474Z,1761365069.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:29.481Z,1761365069.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 71.529640 m,
      bearing: 334.962102 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008328 deg/s,
      cmd heading: 333.699246 deg,
      new cmd heading: 333.691266 deg.

2025-10-25T04:04:29.482Z,1761365069.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824011 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:29.537Z,1761365069.537 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:04:29.675Z,1761365069.675 [DAT](INFO): DAT read: TxSync time:04:04:28.9234

2025-10-25T04:04:29.677Z,1761365069.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254068
2025-10-25T04:04:29.817Z,1761365069.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889967,0.449014,-0.079662],[-0.454654,0.887184,-0.078705],[0.035335,0.106264,0.993710]]
2025-10-25T04:04:29.852Z,1761365069.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:29.859Z,1761365069.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 71.301323 m,
      bearing: 334.956012 deg,
      approach rate: -0.577618 m/s,
      LOS rate: -0.015455 deg/s,
      cmd heading: 333.691269 deg,
      new cmd heading: 333.672942 deg.

2025-10-25T04:04:29.860Z,1761365069.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823691 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:29.926Z,1761365069.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503639
2025-10-25T04:04:30.178Z,1761365070.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738
2025-10-25T04:04:30.206Z,1761365070.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889628,0.448727,-0.084892],[-0.455306,0.885923,-0.088528],[0.035483,0.117408,0.992450]]
2025-10-25T04:04:30.260Z,1761365070.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:30.265Z,1761365070.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 71.079849 m,
      bearing: 334.940492 deg,
      approach rate: -0.542588 m/s,
      LOS rate: -0.038141 deg/s,
      cmd heading: 333.672937 deg,
      new cmd heading: 333.626232 deg.

2025-10-25T04:04:30.266Z,1761365070.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822876 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:30.431Z,1761365070.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007775
2025-10-25T04:04:30.614Z,1761365070.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889457,0.449088,-0.084774],[-0.455590,0.885946,-0.086815],[0.036118,0.115841,0.992611]]
2025-10-25T04:04:30.640Z,1761365070.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:30.642Z,1761365070.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:30.661Z,1761365070.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 70.878220 m,
      bearing: 334.926319 deg,
      approach rate: -0.528169 m/s,
      LOS rate: -0.037232 deg/s,
      cmd heading: 333.626218 deg,
      new cmd heading: 333.583578 deg.

2025-10-25T04:04:30.662Z,1761365070.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822132 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:30.682Z,1761365070.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259097
2025-10-25T04:04:30.935Z,1761365070.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511999
2025-10-25T04:04:31.065Z,1761365071.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889895,0.448506,-0.083240],[-0.454820,0.886374,-0.086480],[0.034995,0.114818,0.992770]]
2025-10-25T04:04:31.115Z,1761365071.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:31.118Z,1761365071.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 70.634567 m,
      bearing: 334.899090 deg,
      approach rate: -0.515312 m/s,
      LOS rate: -0.057786 deg/s,
      cmd heading: 333.583570 deg,
      new cmd heading: 333.501602 deg.

2025-10-25T04:04:31.119Z,1761365071.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820701 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:31.186Z,1761365071.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762821
2025-10-25T04:04:31.437Z,1761365071.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014666
2025-10-25T04:04:31.523Z,1761365071.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891402,0.446027,-0.080384],[-0.451970,0.887991,-0.084823],[0.033547,0.111942,0.993148]]
2025-10-25T04:04:31.570Z,1761365071.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:31.577Z,1761365071.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 70.410263 m,
      bearing: 334.873235 deg,
      approach rate: -0.492245 m/s,
      LOS rate: -0.056920 deg/s,
      cmd heading: 333.501608 deg,
      new cmd heading: 333.423796 deg.

2025-10-25T04:04:31.578Z,1761365071.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819343 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:31.691Z,1761365071.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267965
2025-10-25T04:04:31.941Z,1761365071.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518644
2025-10-25T04:04:31.971Z,1761365071.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:31.974Z,1761365071.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 70.193222 m,
      bearing: 334.848058 deg,
      approach rate: -0.541317 m/s,
      LOS rate: -0.062988 deg/s,
      cmd heading: 333.423799 deg,
      new cmd heading: 333.348034 deg.

2025-10-25T04:04:31.975Z,1761365071.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818021 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:32.194Z,1761365072.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771382
2025-10-25T04:04:32.446Z,1761365072.446 [DAT](INFO): DAT read: Rx Time:04:04:31.4221

2025-10-25T04:04:32.447Z,1761365072.447 [DAT](INFO): Rx dataTimestamp_ set to:1761365072.446664
2025-10-25T04:04:32.447Z,1761365072.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024693
2025-10-25T04:04:32.462Z,1761365072.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:32.465Z,1761365072.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 69.942329 m,
      bearing: 334.819148 deg,
      approach rate: -0.512707 m/s,
      LOS rate: -0.059292 deg/s,
      cmd heading: 333.348038 deg,
      new cmd heading: 333.260995 deg.

2025-10-25T04:04:32.466Z,1761365072.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816502 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:32.700Z,1761365072.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276455
2025-10-25T04:04:32.806Z,1761365072.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894434,0.440986,-0.074294],[-0.446179,0.891209,-0.081668],[0.030197,0.106195,0.993887]]
2025-10-25T04:04:32.831Z,1761365072.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:32.834Z,1761365072.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.06 m.
2025-10-25T04:04:32.843Z,1761365072.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.056244 m,
      nav range: 69.753448 m,
      bearing: 334.796197 deg,
      approach rate: -0.507855 m/s,
      LOS rate: -0.061875 deg/s,
      cmd heading: 333.260994 deg,
      new cmd heading: 333.191957 deg.

2025-10-25T04:04:32.846Z,1761365072.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815297 target range: 72.056244 and range: 72.40 m.
2025-10-25T04:04:32.959Z,1761365072.959 [DAT](INFO): DAT read: 04:04:31.4221 LVL= 18928, 26097, 16818, 25747, AGC= 66, IDX= 413,-0.27, 2.807, 1.423, 2.844, 2.415, PHS= 0.480,-0.945, 0.426, RAW= 148.1,   0.6, CAL= 151.4,  -8.4, ROT= 358.6,   8.4

2025-10-25T04:04:32.960Z,1761365072.960 [DAT](INFO): got valid direction response:
 04:04:31.4221 LVL= 18928, 26097, 16818, 25747, AGC= 66, IDX= 413,-0.27, 2.807, 1.423, 2.844, 2.415, PHS= 0.480,-0.945, 0.426, RAW= 148.1,   0.6, CAL= 151.4,  -8.4, ROT= 358.6,   8.4

2025-10-25T04:04:32.961Z,1761365072.961 [DAT](INFO): DAT read: Bearing 358.6,   8.4 (Local)

2025-10-25T04:04:32.962Z,1761365072.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,   8.4 (Local)

2025-10-25T04:04:32.964Z,1761365072.964 [DAT](INFO): DAT read: Range 10 to 50 : 70.3 m  (Round-trip  93.8 ms) speed  0.4 m/s

2025-10-25T04:04:32.991Z,1761365072.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:32.997Z,1761365072.997 [DAT](INFO): direction in FSK: [0.988977,-0.024170,-0.146083]
2025-10-25T04:04:32.997Z,1761365072.997 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:33.017Z,1761365073.017 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:33.017Z,1761365073.017 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:33.017Z,1761365073.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:33.201Z,1761365073.201 [DAT](INFO): DAT read: user:323>

2025-10-25T04:04:33.202Z,1761365073.202 [DAT](INFO): DAT read: Tx time:04:04:32.7242

2025-10-25T04:04:33.203Z,1761365073.203 [DAT](INFO): Ping request sent.
2025-10-25T04:04:33.203Z,1761365073.203 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:33.203Z,1761365073.203 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:33.203Z,1761365073.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-10-25T04:04:33.215Z,1761365073.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895327,0.439596,-0.071732],[-0.444468,0.892238,-0.079744],[0.028947,0.103279,0.994231]]
2025-10-25T04:04:33.336Z,1761365073.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.300003 m,
      deltaT: 3.780608 s,
      deltaX: -2.099998 m,
      approachRate: -0.555466 m/s,
      rangeRepo size: 4

2025-10-25T04:04:33.347Z,1761365073.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.966545 m,
      bearing: 333.082462 deg,
      lat: 36.779459 deg,
      lon: -121.859734 deg,
      deltaT: 3.780608 s,
      deltaX: -2.089699 m,
      approachRate: -0.552741 m/s,
      posRepo size: 4

2025-10-25T04:04:33.348Z,1761365073.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:33.355Z,1761365073.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 69.305450 m,
      bearing: 334.306981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.061875 deg/s,
      cmd heading: 333.191955 deg,
      new cmd heading: 333.098656 deg.

2025-10-25T04:04:33.356Z,1761365073.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813668 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:33.454Z,1761365073.454 [DAT](INFO): DAT read: TxSync time:04:04:32.7234

2025-10-25T04:04:33.456Z,1761365073.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252979
2025-10-25T04:04:33.634Z,1761365073.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895485,0.439574,-0.069867],[-0.444199,0.892547,-0.077760],[0.028178,0.100668,0.994521]]
2025-10-25T04:04:33.688Z,1761365073.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:33.690Z,1761365073.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 69.126053 m,
      bearing: 334.286057 deg,
      approach rate: -0.508991 m/s,
      LOS rate: -0.059520 deg/s,
      cmd heading: 333.098654 deg,
      new cmd heading: 333.035719 deg.

2025-10-25T04:04:33.694Z,1761365073.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812570 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:33.706Z,1761365073.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969
2025-10-25T04:04:33.958Z,1761365073.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867
2025-10-25T04:04:34.078Z,1761365074.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895350,0.440279,-0.067102],[-0.444430,0.893024,-0.070648],[0.028819,0.093077,0.995242]]
2025-10-25T04:04:34.139Z,1761365074.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:34.142Z,1761365074.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 68.875320 m,
      bearing: 334.268318 deg,
      approach rate: -0.555341 m/s,
      LOS rate: -0.039432 deg/s,
      cmd heading: 333.035707 deg,
      new cmd heading: 332.982297 deg.

2025-10-25T04:04:34.143Z,1761365074.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811637 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:34.212Z,1761365074.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009147
2025-10-25T04:04:34.466Z,1761365074.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262873
2025-10-25T04:04:34.487Z,1761365074.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:34.490Z,1761365074.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 68.699677 m,
      bearing: 334.255815 deg,
      approach rate: -0.510296 m/s,
      LOS rate: -0.036420 deg/s,
      cmd heading: 332.982295 deg,
      new cmd heading: 332.944688 deg.

2025-10-25T04:04:34.490Z,1761365074.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810981 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:34.719Z,1761365074.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516267
2025-10-25T04:04:34.874Z,1761365074.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896627,0.437550,-0.067896],[-0.441880,0.894015,-0.074024],[0.028311,0.096373,0.994943]]
2025-10-25T04:04:34.914Z,1761365074.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:34.916Z,1761365074.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:34.923Z,1761365074.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 68.483208 m,
      bearing: 334.239787 deg,
      approach rate: -0.500420 m/s,
      LOS rate: -0.037168 deg/s,
      cmd heading: 332.944702 deg,
      new cmd heading: 332.896468 deg.

2025-10-25T04:04:34.924Z,1761365074.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810140 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:34.970Z,1761365074.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767357
2025-10-25T04:04:35.222Z,1761365075.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019049
2025-10-25T04:04:35.250Z,1761365075.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897350,0.436470,-0.065251],[-0.440532,0.894735,-0.073358],[0.026364,0.094573,0.995169]]
2025-10-25T04:04:35.338Z,1761365075.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:35.346Z,1761365075.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 68.262833 m,
      bearing: 334.233508 deg,
      approach rate: -0.521794 m/s,
      LOS rate: -0.014916 deg/s,
      cmd heading: 332.896481 deg,
      new cmd heading: 332.877582 deg.

2025-10-25T04:04:35.347Z,1761365075.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809810 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:35.474Z,1761365075.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271110
2025-10-25T04:04:35.689Z,1761365075.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:35.692Z,1761365075.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 68.068680 m,
      bearing: 334.227942 deg,
      approach rate: -0.553276 m/s,
      LOS rate: -0.015906 deg/s,
      cmd heading: 332.877575 deg,
      new cmd heading: 332.860830 deg.

2025-10-25T04:04:35.693Z,1761365075.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809517 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:35.726Z,1761365075.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522933
2025-10-25T04:04:35.979Z,1761365075.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776251
2025-10-25T04:04:36.129Z,1761365076.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896229,0.439418,-0.060713],[-0.442990,0.893719,-0.070893],[0.023108,0.090432,0.995634]]
2025-10-25T04:04:36.186Z,1761365076.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:36.188Z,1761365076.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 67.803894 m,
      bearing: 334.229445 deg,
      approach rate: -0.533509 m/s,
      LOS rate: 0.003040 deg/s,
      cmd heading: 332.860827 deg,
      new cmd heading: 332.865354 deg.

2025-10-25T04:04:36.189Z,1761365076.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809597 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:36.231Z,1761365076.231 [DAT](INFO): DAT read: Rx Time:04:04:35.2196

2025-10-25T04:04:36.232Z,1761365076.232 [DAT](INFO): Rx dataTimestamp_ set to:1761365076.231124
2025-10-25T04:04:36.233Z,1761365076.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029666
2025-10-25T04:04:36.468Z,1761365076.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895780,0.440383,-0.060337],[-0.443947,0.893140,-0.072197],[0.022095,0.091459,0.995564]]
2025-10-25T04:04:36.482Z,1761365076.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278965
2025-10-25T04:04:36.508Z,1761365076.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.97 m.
2025-10-25T04:04:36.511Z,1761365076.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.966545 m,
      nav range: 67.630280 m,
      bearing: 334.230588 deg,
      approach rate: -0.538550 m/s,
      LOS rate: 0.003555 deg/s,
      cmd heading: 332.865362 deg,
      new cmd heading: 332.868800 deg.

2025-10-25T04:04:36.514Z,1761365076.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809657 target range: 69.966545 and range: 70.30 m.
2025-10-25T04:04:36.747Z,1761365076.747 [DAT](INFO): DAT read: 04:04:35.2196 LVL= 18816, 30129, 16162, 26211, AGC= 63, IDX= 418, 0.18, 1.369, 0.000, 1.395, 0.961, PHS= 0.496,-0.914, 0.431, RAW= 147.7,  -0.2, CAL= 151.2,  -9.1, ROT= 358.8,   9.1

2025-10-25T04:04:36.749Z,1761365076.749 [DAT](INFO): got valid direction response:
 04:04:35.2196 LVL= 18816, 30129, 16162, 26211, AGC= 63, IDX= 418, 0.18, 1.369, 0.000, 1.395, 0.961, PHS= 0.496,-0.914, 0.431, RAW= 147.7,  -0.2, CAL= 151.2,  -9.1, ROT= 358.8,   9.1

2025-10-25T04:04:36.751Z,1761365076.751 [DAT](INFO): DAT read: Bearing 358.8,   9.1 (Local)

2025-10-25T04:04:36.751Z,1761365076.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   9.1 (Local)

2025-10-25T04:04:36.765Z,1761365076.765 [DAT](INFO): DAT read: Range 10 to 50 : 68.4 m  (Round-trip  91.3 ms) speed  0.4 m/s

2025-10-25T04:04:36.767Z,1761365076.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:36.773Z,1761365076.773 [DAT](INFO): direction in FSK: [0.987197,-0.020679,-0.158158]
2025-10-25T04:04:36.774Z,1761365076.774 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:36.869Z,1761365076.869 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:36.869Z,1761365076.869 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:36.869Z,1761365076.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:36.887Z,1761365076.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895012,0.441980,-0.060055],[-0.445537,0.892262,-0.073249],[0.021210,0.092316,0.995504]]
2025-10-25T04:04:36.981Z,1761365076.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.400002 m,
      deltaT: 3.787675 s,
      deltaX: -1.900002 m,
      approachRate: -0.501627 m/s,
      rangeRepo size: 4

2025-10-25T04:04:36.983Z,1761365076.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.075150 m,
      bearing: 333.189544 deg,
      lat: 36.779457 deg,
      lon: -121.859747 deg,
      deltaT: 3.787675 s,
      deltaX: -1.891396 m,
      approachRate: -0.499355 m/s,
      posRepo size: 4

2025-10-25T04:04:36.984Z,1761365076.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:36.985Z,1761365076.985 [DAT](INFO): DAT read: user:324>

2025-10-25T04:04:36.986Z,1761365076.986 [DAT](INFO): DAT read: Tx time:04:04:36.5742

2025-10-25T04:04:36.987Z,1761365076.987 [DAT](INFO): Ping request sent.
2025-10-25T04:04:36.987Z,1761365076.987 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:36.987Z,1761365076.987 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:36.987Z,1761365076.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-10-25T04:04:36.996Z,1761365076.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 67.663612 m,
      bearing: 333.294186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003555 deg/s,
      cmd heading: 332.868805 deg,
      new cmd heading: 332.873754 deg.

2025-10-25T04:04:37.014Z,1761365077.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809743 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:37.238Z,1761365077.238 [DAT](INFO): DAT read: TxSync time:04:04:36.5734

2025-10-25T04:04:37.239Z,1761365077.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252720
2025-10-25T04:04:37.327Z,1761365077.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894388,0.443361,-0.059172],[-0.446829,0.891625,-0.073130],[0.020336,0.091846,0.995566]]
2025-10-25T04:04:37.435Z,1761365077.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:37.441Z,1761365077.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:37.444Z,1761365077.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 67.399147 m,
      bearing: 333.297170 deg,
      approach rate: -0.563798 m/s,
      LOS rate: 0.006385 deg/s,
      cmd heading: 332.873750 deg,
      new cmd heading: 332.882735 deg.

2025-10-25T04:04:37.449Z,1761365077.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809900 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:37.490Z,1761365077.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502917
2025-10-25T04:04:37.710Z,1761365077.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893683,0.446550,-0.043852],[-0.448243,0.892905,-0.042423],[0.020212,0.057569,0.998137]]
2025-10-25T04:04:37.729Z,1761365077.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:37.742Z,1761365077.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768
2025-10-25T04:04:37.751Z,1761365077.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 67.236671 m,
      bearing: 333.299265 deg,
      approach rate: -0.564802 m/s,
      LOS rate: 0.007302 deg/s,
      cmd heading: 332.882738 deg,
      new cmd heading: 332.889040 deg.

2025-10-25T04:04:37.757Z,1761365077.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810010 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:37.994Z,1761365077.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816
2025-10-25T04:04:38.155Z,1761365078.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892497,0.449008,-0.042900],[-0.450668,0.891622,-0.043687],[0.018635,0.058324,0.998124]]
2025-10-25T04:04:38.204Z,1761365078.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:38.207Z,1761365078.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 66.979187 m,
      bearing: 333.301305 deg,
      approach rate: -0.542133 m/s,
      LOS rate: 0.004311 deg/s,
      cmd heading: 332.889049 deg,
      new cmd heading: 332.895192 deg.

2025-10-25T04:04:38.208Z,1761365078.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810117 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:38.247Z,1761365078.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260385
2025-10-25T04:04:38.498Z,1761365078.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894
2025-10-25T04:04:38.560Z,1761365078.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:38.565Z,1761365078.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 66.785339 m,
      bearing: 333.302851 deg,
      approach rate: -0.543685 m/s,
      LOS rate: 0.004349 deg/s,
      cmd heading: 332.895197 deg,
      new cmd heading: 332.899848 deg.

2025-10-25T04:04:38.566Z,1761365078.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810198 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:38.752Z,1761365078.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764445
2025-10-25T04:04:38.922Z,1761365078.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891584,0.450896,-0.042084],[-0.452578,0.890436,-0.047921],[0.015866,0.061772,0.997964]]
2025-10-25T04:04:38.946Z,1761365078.946 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:04:38.947Z,1761365078.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:38.971Z,1761365078.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 66.575729 m,
      bearing: 333.304917 deg,
      approach rate: -0.541866 m/s,
      LOS rate: 0.005359 deg/s,
      cmd heading: 332.899841 deg,
      new cmd heading: 332.906061 deg.

2025-10-25T04:04:38.972Z,1761365078.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810307 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:39.002Z,1761365079.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021
2025-10-25T04:04:39.254Z,1761365079.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-10-25T04:04:39.326Z,1761365079.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891204,0.451652,-0.042030],[-0.453379,0.889845,-0.051212],[0.014270,0.064696,0.997803]]
2025-10-25T04:04:39.407Z,1761365079.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:39.410Z,1761365079.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 66.343483 m,
      bearing: 333.301446 deg,
      approach rate: -0.505046 m/s,
      LOS rate: -0.007575 deg/s,
      cmd heading: 332.906070 deg,
      new cmd heading: 332.895620 deg.

2025-10-25T04:04:39.411Z,1761365079.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810125 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:39.506Z,1761365079.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519532
2025-10-25T04:04:39.758Z,1761365079.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867
2025-10-25T04:04:39.785Z,1761365079.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:39.787Z,1761365079.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:39.790Z,1761365079.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 66.134140 m,
      bearing: 333.298296 deg,
      approach rate: -0.550707 m/s,
      LOS rate: -0.008312 deg/s,
      cmd heading: 332.895634 deg,
      new cmd heading: 332.886155 deg.

2025-10-25T04:04:39.791Z,1761365079.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809959 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:39.949Z,1761365079.949 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:04:40.013Z,1761365080.013 [DAT](INFO): DAT read: Rx Time:04:04:39.0669

2025-10-25T04:04:40.013Z,1761365080.013 [DAT](INFO): Rx dataTimestamp_ set to:1761365080.013170
2025-10-25T04:04:40.014Z,1761365080.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027273
2025-10-25T04:04:40.246Z,1761365080.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.08 m.
2025-10-25T04:04:40.249Z,1761365080.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.075150 m,
      nav range: 65.891563 m,
      bearing: 333.293012 deg,
      approach rate: -0.529005 m/s,
      LOS rate: -0.011567 deg/s,
      cmd heading: 332.886153 deg,
      new cmd heading: 332.870241 deg.

2025-10-25T04:04:40.250Z,1761365080.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809682 target range: 68.075150 and range: 68.40 m.
2025-10-25T04:04:40.263Z,1761365080.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275913
2025-10-25T04:04:40.548Z,1761365080.548 [DAT](INFO): DAT read: 04:04:39.0669 LVL= 19648, 32753, 18002, 32755, AGC= 65, IDX= 407, 0.03, 2.071, 0.639, 2.092, 1.672, PHS= 0.487,-0.986, 0.417, RAW= 147.6,   1.2, CAL= 150.8,  -7.7, ROT= 359.2,   7.7

2025-10-25T04:04:40.549Z,1761365080.549 [DAT](INFO): got valid direction response:
 04:04:39.0669 LVL= 19648, 32753, 18002, 32755, AGC= 65, IDX= 407, 0.03, 2.071, 0.639, 2.092, 1.672, PHS= 0.487,-0.986, 0.417, RAW= 147.6,   1.2, CAL= 150.8,  -7.7, ROT= 359.2,   7.7

2025-10-25T04:04:40.550Z,1761365080.550 [DAT](INFO): DAT read: Bearing 359.2,   7.7 (Local)

2025-10-25T04:04:40.551Z,1761365080.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,   7.7 (Local)

2025-10-25T04:04:40.552Z,1761365080.552 [DAT](INFO): DAT read: Range 10 to 50 : 66.3 m  (Round-trip  88.5 ms) speed  0.4 m/s

2025-10-25T04:04:40.553Z,1761365080.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:40.554Z,1761365080.554 [DAT](INFO): direction in FSK: [0.990887,-0.013836,-0.133986]
2025-10-25T04:04:40.554Z,1761365080.554 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:40.598Z,1761365080.598 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:40.598Z,1761365080.598 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:40.599Z,1761365080.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:40.601Z,1761365080.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892593,0.448734,-0.043760],[-0.450764,0.890218,-0.065755],[0.009449,0.078418,0.996876]]
2025-10-25T04:04:40.655Z,1761365080.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.300003 m,
      deltaT: 3.776844 s,
      deltaX: -2.099998 m,
      approachRate: -0.556019 m/s,
      rangeRepo size: 4

2025-10-25T04:04:40.663Z,1761365080.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.983833 m,
      bearing: 333.016239 deg,
      lat: 36.779455 deg,
      lon: -121.859747 deg,
      deltaT: 3.776844 s,
      deltaX: -2.091316 m,
      approachRate: -0.553721 m/s,
      posRepo size: 4

2025-10-25T04:04:40.663Z,1761365080.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:40.670Z,1761365080.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 65.458527 m,
      bearing: 333.186094 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011567 deg/s,
      cmd heading: 332.870253 deg,
      new cmd heading: 332.856055 deg.

2025-10-25T04:04:40.673Z,1761365080.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809434 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:40.766Z,1761365080.766 [DAT](INFO): DAT read: user:325>

2025-10-25T04:04:40.766Z,1761365080.766 [DAT](INFO): DAT read: Tx time:04:04:40.3243

2025-10-25T04:04:40.767Z,1761365080.767 [DAT](INFO): Ping request sent.
2025-10-25T04:04:40.767Z,1761365080.767 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:40.767Z,1761365080.767 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:40.768Z,1761365080.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-10-25T04:04:40.981Z,1761365080.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893945,0.445956,-0.044573],[-0.448101,0.891194,-0.070554],[0.008259,0.083045,0.996512]]
2025-10-25T04:04:41.016Z,1761365081.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:41.018Z,1761365081.018 [DAT](INFO): DAT read: TxSync time:04:04:40.3235

2025-10-25T04:04:41.019Z,1761365081.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251808
2025-10-25T04:04:41.023Z,1761365081.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 65.259369 m,
      bearing: 333.180375 deg,
      approach rate: -0.551334 m/s,
      LOS rate: -0.015882 deg/s,
      cmd heading: 332.856046 deg,
      new cmd heading: 332.838835 deg.

2025-10-25T04:04:41.024Z,1761365081.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809134 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:41.270Z,1761365081.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502735
2025-10-25T04:04:41.433Z,1761365081.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:41.435Z,1761365081.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 65.056725 m,
      bearing: 333.169175 deg,
      approach rate: -0.492931 m/s,
      LOS rate: -0.027328 deg/s,
      cmd heading: 332.838834 deg,
      new cmd heading: 332.805130 deg.

2025-10-25T04:04:41.437Z,1761365081.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808545 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:41.522Z,1761365081.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787
2025-10-25T04:04:41.754Z,1761365081.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893687,0.445916,-0.049824],[-0.448613,0.890071,-0.080746],[0.008340,0.094514,0.995489]]
2025-10-25T04:04:41.774Z,1761365081.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754
2025-10-25T04:04:41.786Z,1761365081.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:41.788Z,1761365081.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 64.860184 m,
      bearing: 333.158375 deg,
      approach rate: -0.548230 m/s,
      LOS rate: -0.030215 deg/s,
      cmd heading: 332.805120 deg,
      new cmd heading: 332.772624 deg.

2025-10-25T04:04:41.789Z,1761365081.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807978 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:42.026Z,1761365082.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259357
2025-10-25T04:04:42.217Z,1761365082.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892434,0.448498,-0.049098],[-0.451103,0.888967,-0.079016],[0.008208,0.092665,0.995664]]
2025-10-25T04:04:42.253Z,1761365082.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:42.255Z,1761365082.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:42.258Z,1761365082.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 64.618645 m,
      bearing: 333.142925 deg,
      approach rate: -0.514392 m/s,
      LOS rate: -0.033028 deg/s,
      cmd heading: 332.772636 deg,
      new cmd heading: 332.726110 deg.

2025-10-25T04:04:42.259Z,1761365082.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807166 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:42.279Z,1761365082.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768
2025-10-25T04:04:42.530Z,1761365082.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763337
2025-10-25T04:04:42.590Z,1761365082.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892697,0.448124,-0.047719],[-0.450601,0.889245,-0.078753],[0.007143,0.091804,0.995751]]
2025-10-25T04:04:42.621Z,1761365082.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:42.624Z,1761365082.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 64.431099 m,
      bearing: 333.130752 deg,
      approach rate: -0.513186 m/s,
      LOS rate: -0.033405 deg/s,
      cmd heading: 332.726108 deg,
      new cmd heading: 332.689484 deg.

2025-10-25T04:04:42.625Z,1761365082.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806527 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:42.782Z,1761365082.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015073
2025-10-25T04:04:42.992Z,1761365082.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892577,0.448492,-0.046486],[-0.450856,0.889098,-0.078958],[0.005918,0.091434,0.995794]]
2025-10-25T04:04:43.013Z,1761365083.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:43.016Z,1761365083.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 64.229431 m,
      bearing: 333.117634 deg,
      approach rate: -0.515155 m/s,
      LOS rate: -0.033616 deg/s,
      cmd heading: 332.689471 deg,
      new cmd heading: 332.649993 deg.

2025-10-25T04:04:43.017Z,1761365083.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805838 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:43.034Z,1761365083.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266817
2025-10-25T04:04:43.286Z,1761365083.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519557
2025-10-25T04:04:43.397Z,1761365083.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892397,0.448928,-0.045735],[-0.451222,0.888904,-0.079043],[0.005169,0.091174,0.995822]]
2025-10-25T04:04:43.444Z,1761365083.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:43.449Z,1761365083.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 64.004158 m,
      bearing: 333.107574 deg,
      approach rate: -0.521425 m/s,
      LOS rate: -0.023367 deg/s,
      cmd heading: 332.649993 deg,
      new cmd heading: 332.619707 deg.

2025-10-25T04:04:43.450Z,1761365083.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805309 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:43.538Z,1761365083.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771288
2025-10-25T04:04:43.790Z,1761365083.790 [DAT](INFO): DAT read: Rx Time:04:04:42.8144

2025-10-25T04:04:43.790Z,1761365083.790 [DAT](INFO): Rx dataTimestamp_ set to:1761365083.789862
2025-10-25T04:04:43.791Z,1761365083.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023886
2025-10-25T04:04:43.802Z,1761365083.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892017,0.449680,-0.045752],[-0.451977,0.888444,-0.079900],[0.004719,0.091951,0.995752]]
2025-10-25T04:04:43.820Z,1761365083.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.98 m.
2025-10-25T04:04:43.823Z,1761365083.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.983833 m,
      nav range: 63.808475 m,
      bearing: 333.098925 deg,
      approach rate: -0.520304 m/s,
      LOS rate: -0.023065 deg/s,
      cmd heading: 332.619694 deg,
      new cmd heading: 332.593670 deg.

2025-10-25T04:04:43.824Z,1761365083.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804854 target range: 65.983833 and range: 66.30 m.
2025-10-25T04:04:44.042Z,1761365084.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692
2025-10-25T04:04:44.262Z,1761365084.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891182,0.451317,-0.045919],[-0.453625,0.887555,-0.080436],[0.004454,0.092513,0.995701]]
2025-10-25T04:04:44.315Z,1761365084.315 [DAT](INFO): DAT read: 04:04:42.8144 LVL= 19232, 31089, 19874, 32755, AGC= 65, IDX= 412, 0.29, 0.344,-1.079, 0.330,-0.078, PHS= 0.509,-0.954, 0.404, RAW= 146.3,   0.6, CAL= 149.8,  -8.4, ROT=   0.2,   8.4

2025-10-25T04:04:44.316Z,1761365084.316 [DAT](INFO): got valid direction response:
 04:04:42.8144 LVL= 19232, 31089, 19874, 32755, AGC= 65, IDX= 412, 0.29, 0.344,-1.079, 0.330,-0.078, PHS= 0.509,-0.954, 0.404, RAW= 146.3,   0.6, CAL= 149.8,  -8.4, ROT=   0.2,   8.4

2025-10-25T04:04:44.317Z,1761365084.317 [DAT](INFO): DAT read: Bearing   0.2,   8.4 (Local)

2025-10-25T04:04:44.317Z,1761365084.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,   8.4 (Local)

2025-10-25T04:04:44.319Z,1761365084.319 [DAT](INFO): DAT read: Range 10 to 50 : 64.5 m  (Round-trip  86.0 ms) speed  0.4 m/s

2025-10-25T04:04:44.319Z,1761365084.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:44.321Z,1761365084.321 [DAT](INFO): direction in FSK: [0.989266,0.003453,-0.146083]
2025-10-25T04:04:44.321Z,1761365084.321 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:44.324Z,1761365084.324 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:44.329Z,1761365084.329 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:44.330Z,1761365084.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:44.402Z,1761365084.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.500000 m,
      deltaT: 3.779263 s,
      deltaX: -1.800003 m,
      approachRate: -0.476284 m/s,
      rangeRepo size: 4

2025-10-25T04:04:44.409Z,1761365084.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.193443 m,
      bearing: 334.004380 deg,
      lat: 36.779455 deg,
      lon: -121.859747 deg,
      deltaT: 3.779263 s,
      deltaX: -1.790390 m,
      approachRate: -0.473741 m/s,
      posRepo size: 4

2025-10-25T04:04:44.409Z,1761365084.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:44.433Z,1761365084.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 63.526836 m,
      bearing: 333.091121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023065 deg/s,
      cmd heading: 332.593657 deg,
      new cmd heading: 332.553416 deg.

2025-10-25T04:04:44.434Z,1761365084.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804152 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:44.547Z,1761365084.547 [DAT](INFO): DAT read: user:326>

2025-10-25T04:04:44.548Z,1761365084.548 [DAT](INFO): DAT read: Tx time:04:04:44.0243

2025-10-25T04:04:44.548Z,1761365084.548 [DAT](INFO): Ping request sent.
2025-10-25T04:04:44.548Z,1761365084.548 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:44.548Z,1761365084.548 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:44.549Z,1761365084.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000886
2025-10-25T04:04:44.703Z,1761365084.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890680,0.452354,-0.045436],[-0.454612,0.887083,-0.080075],[0.004083,0.091977,0.995753]]
2025-10-25T04:04:44.722Z,1761365084.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:44.724Z,1761365084.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:44.743Z,1761365084.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 63.333366 m,
      bearing: 333.085915 deg,
      approach rate: -0.600639 m/s,
      LOS rate: -0.016212 deg/s,
      cmd heading: 332.553414 deg,
      new cmd heading: 332.537748 deg.

2025-10-25T04:04:44.750Z,1761365084.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803879 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:44.799Z,1761365084.799 [DAT](INFO): DAT read: TxSync time:04:04:44.0235

2025-10-25T04:04:44.800Z,1761365084.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252183
2025-10-25T04:04:45.050Z,1761365085.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501597
2025-10-25T04:04:45.110Z,1761365085.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889799,0.454142,-0.044856],[-0.456332,0.886362,-0.078248],[0.004223,0.090094,0.995924]]
2025-10-25T04:04:45.130Z,1761365085.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:45.132Z,1761365085.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 63.119991 m,
      bearing: 333.080516 deg,
      approach rate: -0.525734 m/s,
      LOS rate: -0.013346 deg/s,
      cmd heading: 332.537759 deg,
      new cmd heading: 332.521510 deg.

2025-10-25T04:04:45.134Z,1761365085.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803595 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:45.303Z,1761365085.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753
2025-10-25T04:04:45.516Z,1761365085.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888869,0.456060,-0.043841],[-0.458129,0.885884,-0.072996],[0.005547,0.084968,0.996368]]
2025-10-25T04:04:45.554Z,1761365085.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005632
2025-10-25T04:04:45.581Z,1761365085.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:45.583Z,1761365085.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 62.892021 m,
      bearing: 333.084151 deg,
      approach rate: -0.510160 m/s,
      LOS rate: 0.008162 deg/s,
      cmd heading: 332.521503 deg,
      new cmd heading: 332.532446 deg.

2025-10-25T04:04:45.589Z,1761365085.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803786 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:45.807Z,1761365085.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259144
2025-10-25T04:04:45.911Z,1761365085.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889146,0.455347,-0.045591],[-0.457581,0.885995,-0.075054],[0.006218,0.087595,0.996137]]
2025-10-25T04:04:45.951Z,1761365085.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:45.958Z,1761365085.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 62.694763 m,
      bearing: 333.087195 deg,
      approach rate: -0.526686 m/s,
      LOS rate: 0.008156 deg/s,
      cmd heading: 332.532459 deg,
      new cmd heading: 332.541622 deg.

2025-10-25T04:04:45.959Z,1761365085.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803946 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:46.058Z,1761365086.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510462
2025-10-25T04:04:46.310Z,1761365086.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761810
2025-10-25T04:04:46.334Z,1761365086.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889023,0.455598,-0.045481],[-0.457820,0.885884,-0.074897],[0.006168,0.087408,0.996154]]
2025-10-25T04:04:46.393Z,1761365086.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:46.402Z,1761365086.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 62.452950 m,
      bearing: 333.092836 deg,
      approach rate: -0.546737 m/s,
      LOS rate: 0.012802 deg/s,
      cmd heading: 332.541611 deg,
      new cmd heading: 332.558598 deg.

2025-10-25T04:04:46.403Z,1761365086.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804243 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:46.563Z,1761365086.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014399
2025-10-25T04:04:46.727Z,1761365086.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889302,0.455063,-0.045388],[-0.457291,0.885985,-0.076914],[0.005213,0.089155,0.996004]]
2025-10-25T04:04:46.753Z,1761365086.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:46.755Z,1761365086.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:46.758Z,1761365086.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 62.254597 m,
      bearing: 333.097383 deg,
      approach rate: -0.547891 m/s,
      LOS rate: 0.012599 deg/s,
      cmd heading: 332.558605 deg,
      new cmd heading: 332.572288 deg.

2025-10-25T04:04:46.759Z,1761365086.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804482 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:46.815Z,1761365086.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266912
2025-10-25T04:04:47.066Z,1761365087.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517577
2025-10-25T04:04:47.137Z,1761365087.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889337,0.455011,-0.045211],[-0.457225,0.886000,-0.077136],[0.004960,0.089271,0.995995]]
2025-10-25T04:04:47.156Z,1761365087.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:47.159Z,1761365087.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 62.038738 m,
      bearing: 333.102348 deg,
      approach rate: -0.539277 m/s,
      LOS rate: 0.012449 deg/s,
      cmd heading: 332.572293 deg,
      new cmd heading: 332.587241 deg.

2025-10-25T04:04:47.160Z,1761365087.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804742 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:47.318Z,1761365087.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770157
2025-10-25T04:04:47.531Z,1761365087.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889030,0.455474,-0.046570],[-0.457823,0.885442,-0.079937],[0.004826,0.092387,0.995712]]
2025-10-25T04:04:47.570Z,1761365087.570 [DAT](INFO): DAT read: Rx Time:04:04:46.5117

2025-10-25T04:04:47.570Z,1761365087.570 [DAT](INFO): Rx dataTimestamp_ set to:1761365087.570015
2025-10-25T04:04:47.571Z,1761365087.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022851
2025-10-25T04:04:47.584Z,1761365087.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:47.607Z,1761365087.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 61.813076 m,
      bearing: 333.111106 deg,
      approach rate: -0.527224 m/s,
      LOS rate: 0.020535 deg/s,
      cmd heading: 332.587237 deg,
      new cmd heading: 332.613606 deg.

2025-10-25T04:04:47.608Z,1761365087.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805202 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:47.822Z,1761365087.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274043
2025-10-25T04:04:47.974Z,1761365087.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888935,0.455512,-0.047999],[-0.458008,0.885117,-0.082446],[0.004930,0.095273,0.995439]]
2025-10-25T04:04:48.025Z,1761365088.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.19 m.
2025-10-25T04:04:48.027Z,1761365088.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.193443 m,
      nav range: 61.587490 m,
      bearing: 333.119966 deg,
      approach rate: -0.522072 m/s,
      LOS rate: 0.020580 deg/s,
      cmd heading: 332.613602 deg,
      new cmd heading: 332.640280 deg.

2025-10-25T04:04:48.033Z,1761365088.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805668 target range: 64.193443 and range: 64.50 m.
2025-10-25T04:04:48.080Z,1761365088.080 [DAT](INFO): DAT read: 04:04:46.5117 LVL= 18368, 32753, 18002, 32419, AGC= 64, IDX= 417, 0.17, 1.662, 0.291, 1.622, 1.286, PHS= 0.464,-0.949, 0.333, RAW= 145.2,   2.3, CAL= 148.5,  -6.5, ROT=   1.5,   6.5

2025-10-25T04:04:48.082Z,1761365088.082 [DAT](INFO): got valid direction response:
 04:04:46.5117 LVL= 18368, 32753, 18002, 32419, AGC= 64, IDX= 417, 0.17, 1.662, 0.291, 1.622, 1.286, PHS= 0.464,-0.949, 0.333, RAW= 145.2,   2.3, CAL= 148.5,  -6.5, ROT=   1.5,   6.5

2025-10-25T04:04:48.083Z,1761365088.083 [DAT](INFO): DAT read: Bearing   1.5,   6.5 (Local)

2025-10-25T04:04:48.084Z,1761365088.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   6.5 (Local)

2025-10-25T04:04:48.086Z,1761365088.086 [DAT](INFO): DAT read: Range 10 to 50 : 62.4 m  (Round-trip  83.3 ms) speed  0.4 m/s

2025-10-25T04:04:48.087Z,1761365088.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:48.089Z,1761365088.089 [DAT](INFO): direction in FSK: [0.993231,0.026009,-0.113203]
2025-10-25T04:04:48.089Z,1761365088.089 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:48.095Z,1761365088.095 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:48.096Z,1761365088.096 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:48.096Z,1761365088.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:48.325Z,1761365088.325 [DAT](INFO): DAT read: user:327>

2025-10-25T04:04:48.326Z,1761365088.326 [DAT](INFO): DAT read: Tx time:04:04:47.8243

2025-10-25T04:04:48.327Z,1761365088.327 [DAT](INFO): Ping request sent.
2025-10-25T04:04:48.327Z,1761365088.327 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:48.327Z,1761365088.327 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:48.328Z,1761365088.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-10-25T04:04:48.443Z,1761365088.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 3.779461 s,
      deltaX: -2.099998 m,
      approachRate: -0.555634 m/s,
      rangeRepo size: 4

2025-10-25T04:04:48.447Z,1761365088.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.102947 m,
      bearing: 334.854622 deg,
      lat: 36.779455 deg,
      lon: -121.859747 deg,
      deltaT: 3.779461 s,
      deltaX: -2.090496 m,
      approachRate: -0.553120 m/s,
      posRepo size: 4

2025-10-25T04:04:48.448Z,1761365088.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:48.451Z,1761365088.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 61.366253 m,
      bearing: 333.127990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020580 deg/s,
      cmd heading: 332.640267 deg,
      new cmd heading: 332.666634 deg.

2025-10-25T04:04:48.452Z,1761365088.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806128 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:48.578Z,1761365088.578 [DAT](INFO): DAT read: TxSync time:04:04:47.8235

2025-10-25T04:04:48.580Z,1761365088.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252876
2025-10-25T04:04:48.742Z,1761365088.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888403,0.456480,-0.048637],[-0.459030,0.884631,-0.081979],[0.005604,0.095157,0.995447]]
2025-10-25T04:04:48.771Z,1761365088.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:48.774Z,1761365088.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:48.777Z,1761365088.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 61.194275 m,
      bearing: 333.134452 deg,
      approach rate: -0.519416 m/s,
      LOS rate: 0.019574 deg/s,
      cmd heading: 332.666631 deg,
      new cmd heading: 332.686074 deg.

2025-10-25T04:04:48.779Z,1761365088.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806468 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:48.831Z,1761365088.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504458
2025-10-25T04:04:49.082Z,1761365089.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854
2025-10-25T04:04:49.147Z,1761365089.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888868,0.455648,-0.047938],[-0.458115,0.885404,-0.078680],[0.006594,0.091897,0.995747]]
2025-10-25T04:04:49.170Z,1761365089.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:49.173Z,1761365089.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 60.990398 m,
      bearing: 333.141958 deg,
      approach rate: -0.514919 m/s,
      LOS rate: 0.019019 deg/s,
      cmd heading: 332.686084 deg,
      new cmd heading: 332.708675 deg.

2025-10-25T04:04:49.174Z,1761365089.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806862 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:49.335Z,1761365089.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008618
2025-10-25T04:04:49.550Z,1761365089.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889141,0.454945,-0.049519],[-0.457564,0.885662,-0.078977],[0.007927,0.092880,0.995646]]
2025-10-25T04:04:49.586Z,1761365089.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878
2025-10-25T04:04:49.611Z,1761365089.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:49.616Z,1761365089.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 60.766361 m,
      bearing: 333.140776 deg,
      approach rate: -0.508194 m/s,
      LOS rate: -0.002691 deg/s,
      cmd heading: 332.708678 deg,
      new cmd heading: 332.705119 deg.

2025-10-25T04:04:49.617Z,1761365089.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806800 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:49.838Z,1761365089.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511622
2025-10-25T04:04:49.957Z,1761365089.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889619,0.454060,-0.049072],[-0.456646,0.886062,-0.079802],[0.007246,0.093402,0.995602]]
2025-10-25T04:04:49.989Z,1761365089.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:49.992Z,1761365089.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 60.576775 m,
      bearing: 333.139585 deg,
      approach rate: -0.501978 m/s,
      LOS rate: -0.003162 deg/s,
      cmd heading: 332.705126 deg,
      new cmd heading: 332.701543 deg.

2025-10-25T04:04:49.993Z,1761365089.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806737 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:50.090Z,1761365090.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965
2025-10-25T04:04:50.342Z,1761365090.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790
2025-10-25T04:04:50.367Z,1761365090.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889843,0.453669,-0.048628],[-0.456219,0.886229,-0.080389],[0.006625,0.093719,0.995577]]
2025-10-25T04:04:50.433Z,1761365090.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:50.436Z,1761365090.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 60.365555 m,
      bearing: 333.130667 deg,
      approach rate: -0.480558 m/s,
      LOS rate: -0.020362 deg/s,
      cmd heading: 332.701547 deg,
      new cmd heading: 332.674698 deg.

2025-10-25T04:04:50.441Z,1761365090.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806269 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:50.594Z,1761365090.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768
2025-10-25T04:04:50.766Z,1761365090.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890162,0.453033,-0.048714],[-0.455599,0.886486,-0.081071],[0.006456,0.094360,0.995517]]
2025-10-25T04:04:50.784Z,1761365090.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:50.786Z,1761365090.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:50.789Z,1761365090.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 60.177788 m,
      bearing: 333.122564 deg,
      approach rate: -0.523949 m/s,
      LOS rate: -0.022679 deg/s,
      cmd heading: 332.674691 deg,
      new cmd heading: 332.650308 deg.

2025-10-25T04:04:50.790Z,1761365090.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805843 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:50.847Z,1761365090.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519803
2025-10-25T04:04:51.098Z,1761365091.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770812
2025-10-25T04:04:51.167Z,1761365091.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890160,0.453000,-0.049050],[-0.455599,0.886464,-0.081305],[0.006650,0.094722,0.995482]]
2025-10-25T04:04:51.195Z,1761365091.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:51.199Z,1761365091.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 59.974667 m,
      bearing: 333.113745 deg,
      approach rate: -0.497434 m/s,
      LOS rate: -0.021672 deg/s,
      cmd heading: 332.650321 deg,
      new cmd heading: 332.623772 deg.

2025-10-25T04:04:51.200Z,1761365091.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805380 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:51.353Z,1761365091.353 [DAT](INFO): DAT read: Rx Time:04:04:50.3090

2025-10-25T04:04:51.354Z,1761365091.354 [DAT](INFO): Rx dataTimestamp_ set to:1761365091.353681
2025-10-25T04:04:51.356Z,1761365091.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029215
2025-10-25T04:04:51.570Z,1761365091.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890239,0.452817,-0.049302],[-0.455437,0.886596,-0.080777],[0.007134,0.094365,0.995512]]
2025-10-25T04:04:51.602Z,1761365091.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274803
2025-10-25T04:04:51.641Z,1761365091.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.10 m.
2025-10-25T04:04:51.644Z,1761365091.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.102947 m,
      nav range: 59.764614 m,
      bearing: 333.092070 deg,
      approach rate: -0.470448 m/s,
      LOS rate: -0.048714 deg/s,
      cmd heading: 332.623765 deg,
      new cmd heading: 332.558513 deg.

2025-10-25T04:04:51.653Z,1761365091.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804241 target range: 62.102947 and range: 62.40 m.
2025-10-25T04:04:51.861Z,1761365091.861 [DAT](INFO): DAT read: 04:04:50.3090 LVL= 18832, 31121, 18578, 29763, AGC= 63, IDX= 422,-0.25,-0.139,-1.505,-0.197,-0.517, PHS= 0.466,-0.941, 0.317, RAW= 144.5,   2.4, CAL= 147.9,  -6.3, ROT=   2.1,   6.3

2025-10-25T04:04:51.863Z,1761365091.863 [DAT](INFO): got valid direction response:
 04:04:50.3090 LVL= 18832, 31121, 18578, 29763, AGC= 63, IDX= 422,-0.25,-0.139,-1.505,-0.197,-0.517, PHS= 0.466,-0.941, 0.317, RAW= 144.5,   2.4, CAL= 147.9,  -6.3, ROT=   2.1,   6.3

2025-10-25T04:04:51.864Z,1761365091.864 [DAT](INFO): DAT read: Bearing   2.1,   6.3 (Local)

2025-10-25T04:04:51.865Z,1761365091.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,   6.3 (Local)

2025-10-25T04:04:51.866Z,1761365091.866 [DAT](INFO): DAT read: Range 10 to 50 : 60.4 m  (Round-trip  80.6 ms) speed  0.4 m/s

2025-10-25T04:04:51.866Z,1761365091.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:51.867Z,1761365091.867 [DAT](INFO): direction in FSK: [0.993293,0.036422,-0.109734]
2025-10-25T04:04:51.868Z,1761365091.868 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:51.928Z,1761365091.928 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:51.928Z,1761365091.928 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:51.939Z,1761365091.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:51.992Z,1761365091.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890162,0.452965,-0.049342],[-0.455586,0.886549,-0.080453],[0.007301,0.094096,0.995536]]
2025-10-25T04:04:52.059Z,1761365092.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.400002 m,
      deltaT: 3.781633 s,
      deltaX: -2.000000 m,
      approachRate: -0.528872 m/s,
      rangeRepo size: 4

2025-10-25T04:04:52.066Z,1761365092.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.113022 m,
      bearing: 335.579821 deg,
      lat: 36.779459 deg,
      lon: -121.859736 deg,
      deltaT: 3.781633 s,
      deltaX: -1.989925 m,
      approachRate: -0.526208 m/s,
      posRepo size: 4

2025-10-25T04:04:52.066Z,1761365092.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:52.074Z,1761365092.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 59.587872 m,
      bearing: 334.045085 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048714 deg/s,
      cmd heading: 332.558523 deg,
      new cmd heading: 332.497473 deg.

2025-10-25T04:04:52.081Z,1761365092.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803175 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:52.106Z,1761365092.106 [DAT](INFO): DAT read: user:328>

2025-10-25T04:04:52.106Z,1761365092.106 [DAT](INFO): DAT read: Tx time:04:04:51.6244

2025-10-25T04:04:52.107Z,1761365092.107 [DAT](INFO): Ping request sent.
2025-10-25T04:04:52.107Z,1761365092.107 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:52.107Z,1761365092.107 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:52.108Z,1761365092.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001569
2025-10-25T04:04:52.361Z,1761365092.361 [DAT](INFO): DAT read: TxSync time:04:04:51.6236

2025-10-25T04:04:52.364Z,1761365092.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256946
2025-10-25T04:04:52.415Z,1761365092.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890276,0.452673,-0.049955],[-0.455354,0.886657,-0.080576],[0.007819,0.094482,0.995496]]
2025-10-25T04:04:52.425Z,1761365092.425 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA  87.81,  83.73,  82.37
2025-10-25T04:04:52.455Z,1761365092.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:52.464Z,1761365092.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 59.378017 m,
      bearing: 334.026596 deg,
      approach rate: -0.529456 m/s,
      LOS rate: -0.046812 deg/s,
      cmd heading: 332.497461 deg,
      new cmd heading: 332.441798 deg.

2025-10-25T04:04:52.469Z,1761365092.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802204 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:52.610Z,1761365092.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502742
2025-10-25T04:04:52.789Z,1761365092.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889124,0.455296,-0.046516],[-0.457563,0.886473,-0.069292],[0.009687,0.082893,0.996511]]
2025-10-25T04:04:52.823Z,1761365092.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:52.825Z,1761365092.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:52.833Z,1761365092.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 59.194798 m,
      bearing: 334.010716 deg,
      approach rate: -0.495233 m/s,
      LOS rate: -0.043055 deg/s,
      cmd heading: 332.441809 deg,
      new cmd heading: 332.394022 deg.

2025-10-25T04:04:52.834Z,1761365092.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801370 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:52.863Z,1761365092.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756012
2025-10-25T04:04:53.114Z,1761365093.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798
2025-10-25T04:04:53.196Z,1761365093.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889532,0.454309,-0.048325],[-0.456761,0.886662,-0.072115],[0.010086,0.086222,0.996225]]
2025-10-25T04:04:53.215Z,1761365093.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:53.218Z,1761365093.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 58.992031 m,
      bearing: 333.992870 deg,
      approach rate: -0.519819 m/s,
      LOS rate: -0.045906 deg/s,
      cmd heading: 332.394025 deg,
      new cmd heading: 332.340304 deg.

2025-10-25T04:04:53.219Z,1761365093.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800433 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:53.369Z,1761365093.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261238
2025-10-25T04:04:53.598Z,1761365093.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890150,0.452915,-0.050012],[-0.455547,0.887060,-0.074841],[0.010467,0.089403,0.995941]]
2025-10-25T04:04:53.618Z,1761365093.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896
2025-10-25T04:04:53.666Z,1761365093.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:53.674Z,1761365093.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 58.761101 m,
      bearing: 333.966865 deg,
      approach rate: -0.512214 m/s,
      LOS rate: -0.057907 deg/s,
      cmd heading: 332.340312 deg,
      new cmd heading: 332.261990 deg.

2025-10-25T04:04:53.675Z,1761365093.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799066 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:53.870Z,1761365093.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762989
2025-10-25T04:04:54.010Z,1761365094.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891612,0.449933,-0.050869],[-0.452687,0.888254,-0.077972],[0.010103,0.092548,0.995657]]
2025-10-25T04:04:54.070Z,1761365094.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:54.078Z,1761365094.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 58.565479 m,
      bearing: 333.944063 deg,
      approach rate: -0.484273 m/s,
      LOS rate: -0.056638 deg/s,
      cmd heading: 332.261983 deg,
      new cmd heading: 332.193347 deg.

2025-10-25T04:04:54.080Z,1761365094.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797868 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:54.123Z,1761365094.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016001
2025-10-25T04:04:54.376Z,1761365094.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268794
2025-10-25T04:04:54.418Z,1761365094.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892248,0.448653,-0.051030],[-0.451441,0.888764,-0.079376],[0.009742,0.093860,0.995538]]
2025-10-25T04:04:54.474Z,1761365094.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:54.481Z,1761365094.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 58.349232 m,
      bearing: 333.917002 deg,
      approach rate: -0.534849 m/s,
      LOS rate: -0.067176 deg/s,
      cmd heading: 332.193354 deg,
      new cmd heading: 332.111873 deg.

2025-10-25T04:04:54.482Z,1761365094.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796446 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:54.626Z,1761365094.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518764
2025-10-25T04:04:54.809Z,1761365094.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891942,0.449284,-0.050829],[-0.452048,0.888477,-0.079126],[0.009611,0.093553,0.995568]]
2025-10-25T04:04:54.846Z,1761365094.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:54.853Z,1761365094.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:54.856Z,1761365094.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 58.157391 m,
      bearing: 333.892957 deg,
      approach rate: -0.512869 m/s,
      LOS rate: -0.064495 deg/s,
      cmd heading: 332.111883 deg,
      new cmd heading: 332.039510 deg.

2025-10-25T04:04:54.858Z,1761365094.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795183 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:54.879Z,1761365094.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772192
2025-10-25T04:04:55.131Z,1761365095.131 [DAT](INFO): DAT read: Rx Time:04:04:54.1067

2025-10-25T04:04:55.133Z,1761365095.133 [DAT](INFO): Rx dataTimestamp_ set to:1761365095.131751
2025-10-25T04:04:55.134Z,1761365095.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026899
2025-10-25T04:04:55.213Z,1761365095.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891594,0.449959,-0.050969],[-0.452730,0.888163,-0.078754],[0.009833,0.093292,0.995590]]
2025-10-25T04:04:55.238Z,1761365095.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.11 m.
2025-10-25T04:04:55.241Z,1761365095.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.113022 m,
      nav range: 57.945549 m,
      bearing: 333.866381 deg,
      approach rate: -0.543202 m/s,
      LOS rate: -0.068395 deg/s,
      cmd heading: 332.039510 deg,
      new cmd heading: 331.959491 deg.

2025-10-25T04:04:55.242Z,1761365095.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793786 target range: 60.113022 and range: 60.40 m.
2025-10-25T04:04:55.384Z,1761365095.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277189
2025-10-25T04:04:55.639Z,1761365095.639 [DAT](INFO): DAT read: 04:04:54.1067 LVL= 19632, 32401, 19538, 32755, AGC= 64, IDX= 412, 0.14,-0.118,-1.553,-0.164,-0.528, PHS= 0.498,-0.978, 0.361, RAW= 145.2,   1.7, CAL= 148.6,  -7.1, ROT=   1.4,   7.1

2025-10-25T04:04:55.640Z,1761365095.640 [DAT](INFO): got valid direction response:
 04:04:54.1067 LVL= 19632, 32401, 19538, 32755, AGC= 64, IDX= 412, 0.14,-0.118,-1.553,-0.164,-0.528, PHS= 0.498,-0.978, 0.361, RAW= 145.2,   1.7, CAL= 148.6,  -7.1, ROT=   1.4,   7.1

2025-10-25T04:04:55.641Z,1761365095.641 [DAT](INFO): DAT read: Bearing   1.4,   7.1 (Local)

2025-10-25T04:04:55.641Z,1761365095.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,   7.1 (Local)

2025-10-25T04:04:55.643Z,1761365095.643 [DAT](INFO): DAT read: Range 10 to 50 : 58.6 m  (Round-trip  78.2 ms) speed  0.5 m/s

2025-10-25T04:04:55.643Z,1761365095.643 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:55.644Z,1761365095.644 [DAT](INFO): direction in FSK: [0.992036,0.024245,-0.123601]
2025-10-25T04:04:55.645Z,1761365095.645 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:55.649Z,1761365095.649 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:55.649Z,1761365095.649 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:55.649Z,1761365095.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:55.789Z,1761365095.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.599998 m,
      deltaT: 3.778091 s,
      deltaX: -1.800003 m,
      approachRate: -0.476432 m/s,
      rangeRepo size: 4

2025-10-25T04:04:55.791Z,1761365095.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.321533 m,
      bearing: 335.136576 deg,
      lat: 36.779465 deg,
      lon: -121.859730 deg,
      deltaT: 3.778091 s,
      deltaX: -1.791489 m,
      approachRate: -0.474178 m/s,
      posRepo size: 4

2025-10-25T04:04:55.792Z,1761365095.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:55.792Z,1761365095.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:55.807Z,1761365095.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 58.027073 m,
      bearing: 334.672672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068395 deg/s,
      cmd heading: 331.959488 deg,
      new cmd heading: 331.847570 deg.

2025-10-25T04:04:55.808Z,1761365095.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791833 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:55.835Z,1761365095.835 [DockingStepper](INFO): Changing to mode: 2
2025-10-25T04:04:55.886Z,1761365095.886 [DAT](INFO): DAT read: user:329>

2025-10-25T04:04:55.886Z,1761365095.886 [DAT](INFO): DAT read: Tx time:04:04:55.3744

2025-10-25T04:04:55.887Z,1761365095.887 [DAT](INFO): Ping request sent.
2025-10-25T04:04:55.887Z,1761365095.887 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:55.887Z,1761365095.887 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:55.888Z,1761365095.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-10-25T04:04:56.095Z,1761365096.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890096,0.452941,-0.050734],[-0.455660,0.886826,-0.076904],[0.010159,0.091570,0.995747]]
2025-10-25T04:04:56.139Z,1761365096.139 [DAT](INFO): DAT read: TxSync time:04:04:55.3736

2025-10-25T04:04:56.141Z,1761365096.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253820
2025-10-25T04:04:56.143Z,1761365096.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:56.144Z,1761365096.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:56.159Z,1761365096.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 57.834229 m,
      bearing: 334.657614 deg,
      approach rate: -0.553273 m/s,
      LOS rate: -0.043343 deg/s,
      cmd heading: 331.847582 deg,
      new cmd heading: 331.802260 deg.

2025-10-25T04:04:56.165Z,1761365096.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791042 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:56.392Z,1761365096.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504920
2025-10-25T04:04:56.488Z,1761365096.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889192,0.454655,-0.051259],[-0.457409,0.885978,-0.076288],[0.010730,0.091281,0.995767]]
2025-10-25T04:04:56.531Z,1761365096.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:56.532Z,1761365096.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:56.535Z,1761365096.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 57.613041 m,
      bearing: 334.650130 deg,
      approach rate: -0.554397 m/s,
      LOS rate: -0.018831 deg/s,
      cmd heading: 331.802257 deg,
      new cmd heading: 331.779719 deg.

2025-10-25T04:04:56.536Z,1761365096.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790648 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:56.645Z,1761365096.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757338
2025-10-25T04:04:56.893Z,1761365096.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888016,0.457133,-0.049576],[-0.459671,0.885250,-0.070960],[0.011449,0.085802,0.996246]]
2025-10-25T04:04:56.898Z,1761365096.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010756
2025-10-25T04:04:56.932Z,1761365096.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:56.934Z,1761365096.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:56.934Z,1761365096.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:56.951Z,1761365096.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 57.404305 m,
      bearing: 334.643576 deg,
      approach rate: -0.518477 m/s,
      LOS rate: -0.016341 deg/s,
      cmd heading: 331.779717 deg,
      new cmd heading: 331.759982 deg.

2025-10-25T04:04:56.952Z,1761365096.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790304 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:57.153Z,1761365097.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265959
2025-10-25T04:04:57.360Z,1761365097.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886951,0.459065,-0.050763],[-0.461694,0.884233,-0.070500],[0.012522,0.085967,0.996219]]
2025-10-25T04:04:57.405Z,1761365097.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517597
2025-10-25T04:04:57.457Z,1761365097.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:57.457Z,1761365097.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:57.460Z,1761365097.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 57.148464 m,
      bearing: 334.636062 deg,
      approach rate: -0.494794 m/s,
      LOS rate: -0.014595 deg/s,
      cmd heading: 331.759992 deg,
      new cmd heading: 331.737352 deg.

2025-10-25T04:04:57.465Z,1761365097.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789909 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:57.653Z,1761365097.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766600
2025-10-25T04:04:57.732Z,1761365097.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886211,0.460505,-0.050652],[-0.463119,0.883491,-0.070459],[0.012304,0.085900,0.996228]]
2025-10-25T04:04:57.843Z,1761365097.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:57.843Z,1761365097.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:57.851Z,1761365097.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 56.912220 m,
      bearing: 334.641956 deg,
      approach rate: -0.602953 m/s,
      LOS rate: 0.015104 deg/s,
      cmd heading: 331.737343 deg,
      new cmd heading: 331.755097 deg.

2025-10-25T04:04:57.852Z,1761365097.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790219 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:57.906Z,1761365097.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018720
2025-10-25T04:04:58.158Z,1761365098.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270813
2025-10-25T04:04:58.171Z,1761365098.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885686,0.461418,-0.051509],[-0.464122,0.882844,-0.071955],[0.012273,0.087636,0.996077]]
2025-10-25T04:04:58.223Z,1761365098.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:58.224Z,1761365098.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:58.231Z,1761365098.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 56.693882 m,
      bearing: 334.647683 deg,
      approach rate: -0.574117 m/s,
      LOS rate: 0.015116 deg/s,
      cmd heading: 331.755101 deg,
      new cmd heading: 331.772348 deg.

2025-10-25T04:04:58.232Z,1761365098.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790520 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:58.425Z,1761365098.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525384
2025-10-25T04:04:58.596Z,1761365098.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884464,0.463731,-0.051743],[-0.466439,0.881679,-0.071250],[0.012580,0.087153,0.996116]]
2025-10-25T04:04:58.647Z,1761365098.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:58.648Z,1761365098.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:58.651Z,1761365098.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 56.455933 m,
      bearing: 334.662537 deg,
      approach rate: -0.561281 m/s,
      LOS rate: 0.035185 deg/s,
      cmd heading: 331.772341 deg,
      new cmd heading: 331.817090 deg.

2025-10-25T04:04:58.652Z,1761365098.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791301 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:58.663Z,1761365098.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775798
2025-10-25T04:04:58.914Z,1761365098.914 [DAT](INFO): DAT read: Rx Time:04:04:57.8541

2025-10-25T04:04:58.915Z,1761365098.915 [DAT](INFO): Rx dataTimestamp_ set to:1761365098.914261
2025-10-25T04:04:58.915Z,1761365098.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028263
2025-10-25T04:04:58.992Z,1761365098.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883799,0.464907,-0.052538],[-0.467689,0.880973,-0.071794],[0.012907,0.088023,0.996035]]
2025-10-25T04:04:59.011Z,1761365099.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:04:59.015Z,1761365099.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.32 m.
2025-10-25T04:04:59.015Z,1761365099.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m.
2025-10-25T04:04:59.019Z,1761365099.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.321533 m,
      nav range: 56.253609 m,
      bearing: 334.675552 deg,
      approach rate: -0.549931 m/s,
      LOS rate: 0.035503 deg/s,
      cmd heading: 331.817092 deg,
      new cmd heading: 331.856278 deg.

2025-10-25T04:04:59.020Z,1761365099.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791985 target range: 58.321533 and range: 58.60 m.
2025-10-25T04:04:59.166Z,1761365099.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278790
2025-10-25T04:04:59.410Z,1761365099.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883615,0.465291,-0.052243],[-0.468054,0.880722,-0.072488],[0.012283,0.088504,0.996000]]
2025-10-25T04:04:59.470Z,1761365099.470 [DAT](INFO): DAT read: 04:04:57.8541 LVL= 17968, 25329, 17778, 30899, AGC= 64, IDX= 417, 0.05,-2.435, 2.413,-2.578,-2.878, PHS= 0.531,-0.945, 0.297, RAW= 141.5,   1.7, CAL= 145.6,  -7.0, ROT=   4.4,   7.0

2025-10-25T04:04:59.485Z,1761365099.485 [DAT](INFO): got valid direction response:
 04:04:57.8541 LVL= 17968, 25329, 17778, 30899, AGC= 64, IDX= 417, 0.05,-2.435, 2.413,-2.578,-2.878, PHS= 0.531,-0.945, 0.297, RAW= 141.5,   1.7, CAL= 145.6,  -7.0, ROT=   4.4,   7.0

2025-10-25T04:04:59.486Z,1761365099.486 [DAT](INFO): DAT read: Bearing   4.4,   7.0 (Local)

2025-10-25T04:04:59.486Z,1761365099.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,   7.0 (Local)

2025-10-25T04:04:59.488Z,1761365099.488 [DAT](INFO): DAT read: Range 10 to 50 : 56.6 m  (Round-trip  75.5 ms) speed  0.4 m/s

2025-10-25T04:04:59.488Z,1761365099.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:04:59.501Z,1761365099.501 [DAT](INFO): direction in FSK: [0.989621,0.076147,-0.121869]
2025-10-25T04:04:59.502Z,1761365099.502 [DAT](INFO): publishing direction and range info
2025-10-25T04:04:59.522Z,1761365099.522 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:04:59.522Z,1761365099.522 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:04:59.522Z,1761365099.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:04:59.622Z,1761365099.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.599998 m,
      deltaT: 3.785765 s,
      deltaX: -2.000000 m,
      approachRate: -0.528295 m/s,
      rangeRepo size: 4

2025-10-25T04:04:59.624Z,1761365099.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.331047 m,
      bearing: 337.086101 deg,
      lat: 36.779466 deg,
      lon: -121.859725 deg,
      deltaT: 3.785765 s,
      deltaX: -1.990486 m,
      approachRate: -0.525782 m/s,
      posRepo size: 4

2025-10-25T04:04:59.633Z,1761365099.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:04:59.633Z,1761365099.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:04:59.636Z,1761365099.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 55.866985 m,
      bearing: 335.192576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035503 deg/s,
      cmd heading: 331.856270 deg,
      new cmd heading: 331.920333 deg.

2025-10-25T04:04:59.639Z,1761365099.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793103 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:04:59.671Z,1761365099.671 [DAT](INFO): DAT read: user:330>

2025-10-25T04:04:59.673Z,1761365099.673 [DAT](INFO): DAT read: Tx time:04:04:59.2244

2025-10-25T04:04:59.674Z,1761365099.674 [DAT](INFO): Ping request sent.
2025-10-25T04:04:59.674Z,1761365099.674 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:04:59.674Z,1761365099.674 [DAT](INFO): publishing transmit ping time
2025-10-25T04:04:59.675Z,1761365099.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001405
2025-10-25T04:04:59.922Z,1761365099.922 [DAT](INFO): DAT read: TxSync time:04:04:59.2236

2025-10-25T04:04:59.922Z,1761365099.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248807
2025-10-25T04:04:59.956Z,1761365099.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883496,0.465519,-0.052220],[-0.468299,0.880450,-0.074187],[0.011442,0.089998,0.995876]]
2025-10-25T04:05:00.002Z,1761365100.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:00.003Z,1761365100.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:00.017Z,1761365100.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 55.655155 m,
      bearing: 335.218199 deg,
      approach rate: -0.549415 m/s,
      LOS rate: 0.066708 deg/s,
      cmd heading: 331.920337 deg,
      new cmd heading: 331.997496 deg.

2025-10-25T04:05:00.022Z,1761365100.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794449 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:00.175Z,1761365100.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501553
2025-10-25T04:05:00.339Z,1761365100.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883008,0.466420,-0.052429],[-0.469221,0.879922,-0.074620],[0.011329,0.090491,0.995833]]
2025-10-25T04:05:00.371Z,1761365100.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:00.371Z,1761365100.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:00.374Z,1761365100.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 55.447273 m,
      bearing: 335.243759 deg,
      approach rate: -0.564034 m/s,
      LOS rate: 0.069611 deg/s,
      cmd heading: 331.997491 deg,
      new cmd heading: 332.074460 deg.

2025-10-25T04:05:00.375Z,1761365100.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795793 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:00.429Z,1761365100.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755221
2025-10-25T04:05:00.678Z,1761365100.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003988
2025-10-25T04:05:00.742Z,1761365100.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884615,0.463775,-0.048664],[-0.466208,0.881872,-0.070365],[0.010282,0.084934,0.996334]]
2025-10-25T04:05:00.821Z,1761365100.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:00.822Z,1761365100.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:00.829Z,1761365100.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 55.219437 m,
      bearing: 335.266568 deg,
      approach rate: -0.505629 m/s,
      LOS rate: 0.050827 deg/s,
      cmd heading: 332.074454 deg,
      new cmd heading: 332.143162 deg.

2025-10-25T04:05:00.830Z,1761365100.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796992 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:00.934Z,1761365100.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259863
2025-10-25T04:05:01.147Z,1761365101.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885369,0.462265,-0.049322],[-0.464785,0.882420,-0.072874],[0.009836,0.087444,0.996121]]
2025-10-25T04:05:01.163Z,1761365101.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:01.182Z,1761365101.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508137
2025-10-25T04:05:01.185Z,1761365101.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:01.185Z,1761365101.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:01.193Z,1761365101.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 55.023365 m,
      bearing: 335.286005 deg,
      approach rate: -0.565491 m/s,
      LOS rate: 0.056260 deg/s,
      cmd heading: 332.143165 deg,
      new cmd heading: 332.201686 deg.

2025-10-25T04:05:01.194Z,1761365101.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798013 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:01.433Z,1761365101.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759932
2025-10-25T04:05:01.549Z,1761365101.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886711,0.459797,-0.048272],[-0.462263,0.883451,-0.076340],[0.007545,0.090006,0.995913]]
2025-10-25T04:05:01.599Z,1761365101.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:01.599Z,1761365101.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:01.602Z,1761365101.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 54.795467 m,
      bearing: 335.306205 deg,
      approach rate: -0.529304 m/s,
      LOS rate: 0.047110 deg/s,
      cmd heading: 332.201687 deg,
      new cmd heading: 332.262538 deg.

2025-10-25T04:05:01.603Z,1761365101.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799075 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:01.686Z,1761365101.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012122
2025-10-25T04:05:01.938Z,1761365101.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264578
2025-10-25T04:05:02.014Z,1761365102.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:02.015Z,1761365102.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:02.018Z,1761365102.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 54.575169 m,
      bearing: 335.325892 deg,
      approach rate: -0.529684 m/s,
      LOS rate: 0.047527 deg/s,
      cmd heading: 332.262530 deg,
      new cmd heading: 332.321830 deg.

2025-10-25T04:05:02.019Z,1761365102.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800110 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:02.189Z,1761365102.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515982
2025-10-25T04:05:02.361Z,1761365102.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888926,0.455749,-0.045861],[-0.458037,0.885214,-0.081229],[0.003576,0.093212,0.995640]]
2025-10-25T04:05:02.387Z,1761365102.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:02.387Z,1761365102.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:02.410Z,1761365102.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 54.377831 m,
      bearing: 335.342660 deg,
      approach rate: -0.530211 m/s,
      LOS rate: 0.045216 deg/s,
      cmd heading: 332.321843 deg,
      new cmd heading: 332.372329 deg.

2025-10-25T04:05:02.412Z,1761365102.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800992 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:02.442Z,1761365102.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768065
2025-10-25T04:05:02.695Z,1761365102.695 [DAT](INFO): DAT read: Rx Time:04:05:01.7012

2025-10-25T04:05:02.696Z,1761365102.696 [DAT](INFO): Rx dataTimestamp_ set to:1761365102.694926
2025-10-25T04:05:02.696Z,1761365102.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022771
2025-10-25T04:05:02.824Z,1761365102.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.33 m.
2025-10-25T04:05:02.825Z,1761365102.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.60 m.
2025-10-25T04:05:02.829Z,1761365102.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.331047 m,
      nav range: 54.152374 m,
      bearing: 335.351831 deg,
      approach rate: -0.515214 m/s,
      LOS rate: 0.021043 deg/s,
      cmd heading: 332.372332 deg,
      new cmd heading: 332.399957 deg.

2025-10-25T04:05:02.830Z,1761365102.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801474 target range: 56.331047 and range: 56.60 m.
2025-10-25T04:05:02.946Z,1761365102.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272474
2025-10-25T04:05:03.187Z,1761365103.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890451,0.452963,-0.043832],[-0.455079,0.886367,-0.085185],[0.000266,0.095800,0.995400]]
2025-10-25T04:05:03.211Z,1761365103.211 [DAT](INFO): DAT read: 04:05:01.7013 LVL= 17008, 25569, 16434, 29747, AGC= 61, IDX= 404, 0.44,-2.485, 2.434,-2.476,-2.854, PHS= 0.457,-0.948, 0.375, RAW= 147.0,   1.7, CAL= 150.2,  -7.2, ROT= 359.8,   7.2

2025-10-25T04:05:03.212Z,1761365103.212 [DAT](INFO): got valid direction response:
 04:05:01.7013 LVL= 17008, 25569, 16434, 29747, AGC= 61, IDX= 404, 0.44,-2.485, 2.434,-2.476,-2.854, PHS= 0.457,-0.948, 0.375, RAW= 147.0,   1.7, CAL= 150.2,  -7.2, ROT= 359.8,   7.2

2025-10-25T04:05:03.214Z,1761365103.214 [DAT](INFO): DAT read: Bearing 359.8,   7.2 (Local)

2025-10-25T04:05:03.214Z,1761365103.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   7.2 (Local)

2025-10-25T04:05:03.215Z,1761365103.215 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m  (Round-trip  72.7 ms) speed  0.4 m/s

2025-10-25T04:05:03.216Z,1761365103.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:03.217Z,1761365103.217 [DAT](INFO): direction in FSK: [0.992109,-0.003463,-0.125333]
2025-10-25T04:05:03.217Z,1761365103.217 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:03.241Z,1761365103.241 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:03.241Z,1761365103.241 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:03.241Z,1761365103.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:03.282Z,1761365103.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.500000 m,
      deltaT: 3.779693 s,
      deltaX: -2.099998 m,
      approachRate: -0.555600 m/s,
      rangeRepo size: 4

2025-10-25T04:05:03.291Z,1761365103.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.237312 m,
      bearing: 333.424281 deg,
      lat: 36.779466 deg,
      lon: -121.859725 deg,
      deltaT: 3.779693 s,
      deltaX: -2.093735 m,
      approachRate: -0.553943 m/s,
      posRepo size: 4

2025-10-25T04:05:03.292Z,1761365103.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:03.303Z,1761365103.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:03.315Z,1761365103.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 53.956604 m,
      bearing: 335.359168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021043 deg/s,
      cmd heading: 332.399953 deg,
      new cmd heading: 332.427943 deg.

2025-10-25T04:05:03.316Z,1761365103.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801962 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:03.450Z,1761365103.450 [DAT](INFO): DAT read: user:331>

2025-10-25T04:05:03.450Z,1761365103.450 [DAT](INFO): DAT read: Tx time:04:05:02.9245

2025-10-25T04:05:03.451Z,1761365103.451 [DAT](INFO): Ping request sent.
2025-10-25T04:05:03.451Z,1761365103.451 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:03.451Z,1761365103.451 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:03.452Z,1761365103.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-10-25T04:05:03.609Z,1761365103.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890752,0.452423,-0.043295],[-0.454489,0.886521,-0.086724],[-0.000854,0.096927,0.995291]]
2025-10-25T04:05:03.702Z,1761365103.702 [DAT](INFO): DAT read: TxSync time:04:05:02.9237

2025-10-25T04:05:03.703Z,1761365103.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251691
2025-10-25T04:05:03.718Z,1761365103.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:03.720Z,1761365103.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:03.720Z,1761365103.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:03.724Z,1761365103.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 53.705853 m,
      bearing: 335.360570 deg,
      approach rate: -0.554641 m/s,
      LOS rate: 0.003115 deg/s,
      cmd heading: 332.427930 deg,
      new cmd heading: 332.432154 deg.

2025-10-25T04:05:03.733Z,1761365103.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802036 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:03.954Z,1761365103.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502938
2025-10-25T04:05:04.122Z,1761365104.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890983,0.451758,-0.045423],[-0.454035,0.886303,-0.091212],[-0.000947,0.101892,0.994795]]
2025-10-25T04:05:04.139Z,1761365104.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:04.140Z,1761365104.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:04.143Z,1761365104.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 53.479347 m,
      bearing: 335.361735 deg,
      approach rate: -0.539536 m/s,
      LOS rate: 0.002788 deg/s,
      cmd heading: 332.432164 deg,
      new cmd heading: 332.435675 deg.

2025-10-25T04:05:04.144Z,1761365104.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802097 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:04.206Z,1761365104.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809
2025-10-25T04:05:04.461Z,1761365104.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009026
2025-10-25T04:05:04.584Z,1761365104.584 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102420062799,35.0, +11.8,   0.0,1496

2025-10-25T04:05:04.601Z,1761365104.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:04.602Z,1761365104.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:04.605Z,1761365104.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 53.244690 m,
      bearing: 335.362953 deg,
      approach rate: -0.508174 m/s,
      LOS rate: 0.002649 deg/s,
      cmd heading: 332.435689 deg,
      new cmd heading: 332.439358 deg.

2025-10-25T04:05:04.606Z,1761365104.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802161 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:04.710Z,1761365104.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258702
2025-10-25T04:05:04.963Z,1761365104.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511561
2025-10-25T04:05:05.015Z,1761365105.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890021,0.453774,-0.044186],[-0.455920,0.885728,-0.087305],[-0.000480,0.097849,0.995201]]
2025-10-25T04:05:05.038Z,1761365105.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:05.039Z,1761365105.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:05.042Z,1761365105.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 53.021927 m,
      bearing: 335.364619 deg,
      approach rate: -0.509501 m/s,
      LOS rate: 0.003827 deg/s,
      cmd heading: 332.439350 deg,
      new cmd heading: 332.444369 deg.

2025-10-25T04:05:05.043Z,1761365105.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802249 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:05.214Z,1761365105.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762649
2025-10-25T04:05:05.414Z,1761365105.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889951,0.453920,-0.044091],[-0.456057,0.885724,-0.086636],[-0.000273,0.097210,0.995264]]
2025-10-25T04:05:05.436Z,1761365105.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:05.436Z,1761365105.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:05.439Z,1761365105.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 52.819645 m,
      bearing: 335.366176 deg,
      approach rate: -0.509339 m/s,
      LOS rate: 0.003937 deg/s,
      cmd heading: 332.444377 deg,
      new cmd heading: 332.449067 deg.

2025-10-25T04:05:05.440Z,1761365105.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802331 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:05.466Z,1761365105.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825
2025-10-25T04:05:05.718Z,1761365105.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267331
2025-10-25T04:05:05.818Z,1761365105.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889804,0.454180,-0.044374],[-0.456343,0.885712,-0.085244],[0.000587,0.096100,0.995372]]
2025-10-25T04:05:05.869Z,1761365105.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:05.871Z,1761365105.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:05.871Z,1761365105.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:05.875Z,1761365105.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 52.600922 m,
      bearing: 335.355909 deg,
      approach rate: -0.502350 m/s,
      LOS rate: -0.023680 deg/s,
      cmd heading: 332.449076 deg,
      new cmd heading: 332.418145 deg.

2025-10-25T04:05:05.876Z,1761365105.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801791 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:05.970Z,1761365105.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518643
2025-10-25T04:05:06.221Z,1761365106.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770501
2025-10-25T04:05:06.226Z,1761365106.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889939,0.453954,-0.043991],[-0.456077,0.886158,-0.081966],[0.001774,0.093008,0.995664]]
2025-10-25T04:05:06.246Z,1761365106.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:06.247Z,1761365106.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:06.254Z,1761365106.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 52.410873 m,
      bearing: 335.346849 deg,
      approach rate: -0.506934 m/s,
      LOS rate: -0.024254 deg/s,
      cmd heading: 332.418149 deg,
      new cmd heading: 332.390871 deg.

2025-10-25T04:05:06.255Z,1761365106.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801315 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:06.474Z,1761365106.474 [DAT](INFO): DAT read: Rx Time:04:05:05.3988

2025-10-25T04:05:06.474Z,1761365106.474 [DAT](INFO): Rx dataTimestamp_ set to:1761365106.473823
2025-10-25T04:05:06.475Z,1761365106.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023764
2025-10-25T04:05:06.625Z,1761365106.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889847,0.454074,-0.044603],[-0.456248,0.886246,-0.080034],[0.003188,0.091568,0.995794]]
2025-10-25T04:05:06.681Z,1761365106.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.24 m.
2025-10-25T04:05:06.682Z,1761365106.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.50 m.
2025-10-25T04:05:06.701Z,1761365106.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.237312 m,
      nav range: 52.190578 m,
      bearing: 335.334537 deg,
      approach rate: -0.506834 m/s,
      LOS rate: -0.028445 deg/s,
      cmd heading: 332.390883 deg,
      new cmd heading: 332.353792 deg.

2025-10-25T04:05:06.702Z,1761365106.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800668 target range: 54.237312 and range: 54.50 m.
2025-10-25T04:05:06.726Z,1761365106.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274785
2025-10-25T04:05:06.984Z,1761365106.984 [DAT](INFO): DAT read: 04:05:05.3988 LVL= 17840, 29121, 18722, 28643, AGC= 61, IDX= 410, 0.16,-0.198,-1.566,-0.280,-0.575, PHS= 0.464,-0.945, 0.292, RAW= 143.5,   2.9, CAL= 147.0,  -5.7, ROT=   3.0,   5.7

2025-10-25T04:05:06.985Z,1761365106.985 [DAT](INFO): got valid direction response:
 04:05:05.3988 LVL= 17840, 29121, 18722, 28643, AGC= 61, IDX= 410, 0.16,-0.198,-1.566,-0.280,-0.575, PHS= 0.464,-0.945, 0.292, RAW= 143.5,   2.9, CAL= 147.0,  -5.7, ROT=   3.0,   5.7

2025-10-25T04:05:06.986Z,1761365106.986 [DAT](INFO): DAT read: Bearing   3.0,   5.7 (Local)

2025-10-25T04:05:06.986Z,1761365106.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,   5.7 (Local)

2025-10-25T04:05:06.988Z,1761365106.988 [DAT](INFO): DAT read: Range 10 to 50 : 52.6 m  (Round-trip  70.2 ms) speed  0.4 m/s

2025-10-25T04:05:06.988Z,1761365106.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:06.989Z,1761365106.989 [DAT](INFO): direction in FSK: [0.993692,0.052077,-0.099320]
2025-10-25T04:05:06.990Z,1761365106.990 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:06.993Z,1761365106.993 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:06.993Z,1761365106.993 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:06.993Z,1761365106.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:07.033Z,1761365107.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890264,0.453128,-0.045873],[-0.455421,0.886711,-0.079592],[0.004611,0.091749,0.995772]]
2025-10-25T04:05:07.140Z,1761365107.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.599998 m,
      deltaT: 3.778618 s,
      deltaX: -1.900002 m,
      approachRate: -0.502830 m/s,
      rangeRepo size: 4

2025-10-25T04:05:07.142Z,1761365107.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.346275 m,
      bearing: 336.417270 deg,
      lat: 36.779467 deg,
      lon: -121.859721 deg,
      deltaT: 3.778618 s,
      deltaX: -1.891037 m,
      approachRate: -0.500457 m/s,
      posRepo size: 4

2025-10-25T04:05:07.143Z,1761365107.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:07.143Z,1761365107.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.60 m.
2025-10-25T04:05:07.144Z,1761365107.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 52.60 m.
2025-10-25T04:05:07.144Z,1761365107.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-10-25T04:05:07.163Z,1761365107.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 51.900452 m,
      bearing: 335.645045 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028445 deg/s,
      cmd heading: 332.353781 deg,
      new cmd heading: 332.314668 deg.

2025-10-25T04:05:07.164Z,1761365107.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799985 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:07.232Z,1761365107.232 [DAT](INFO): DAT read: user:332>

2025-10-25T04:05:07.234Z,1761365107.234 [DAT](INFO): DAT read: Tx time:04:05:06.6745

2025-10-25T04:05:07.235Z,1761365107.235 [DAT](INFO): Ping request sent.
2025-10-25T04:05:07.235Z,1761365107.235 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:07.236Z,1761365107.236 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:07.238Z,1761365107.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002914
2025-10-25T04:05:07.433Z,1761365107.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890796,0.452078,-0.045919],[-0.454365,0.887492,-0.076880],[0.005997,0.089348,0.995982]]
2025-10-25T04:05:07.482Z,1761365107.482 [DAT](INFO): DAT read: TxSync time:04:05:06.6737

2025-10-25T04:05:07.483Z,1761365107.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247928
2025-10-25T04:05:07.492Z,1761365107.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:07.509Z,1761365107.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 51.717411 m,
      bearing: 335.635348 deg,
      approach rate: -0.518629 m/s,
      LOS rate: -0.027571 deg/s,
      cmd heading: 332.314658 deg,
      new cmd heading: 332.285466 deg.

2025-10-25T04:05:07.510Z,1761365107.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799475 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:07.734Z,1761365107.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499213
2025-10-25T04:05:07.838Z,1761365107.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891189,0.451715,-0.041657],[-0.453556,0.888958,-0.063568],[0.008316,0.075545,0.997108]]
2025-10-25T04:05:07.893Z,1761365107.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:07.897Z,1761365107.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:07.900Z,1761365107.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 51.508308 m,
      bearing: 335.626092 deg,
      approach rate: -0.517747 m/s,
      LOS rate: -0.023012 deg/s,
      cmd heading: 332.285452 deg,
      new cmd heading: 332.257570 deg.

2025-10-25T04:05:07.901Z,1761365107.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798988 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:07.987Z,1761365107.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752445
2025-10-25T04:05:08.239Z,1761365108.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003985
2025-10-25T04:05:08.251Z,1761365108.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892306,0.449247,-0.044342],[-0.451339,0.889790,-0.067583],[0.009093,0.080318,0.996728]]
2025-10-25T04:05:08.302Z,1761365108.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:08.311Z,1761365108.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 51.317379 m,
      bearing: 335.617042 deg,
      approach rate: -0.470772 m/s,
      LOS rate: -0.022396 deg/s,
      cmd heading: 332.257557 deg,
      new cmd heading: 332.230308 deg.

2025-10-25T04:05:08.317Z,1761365108.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798513 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:08.490Z,1761365108.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254905
2025-10-25T04:05:08.696Z,1761365108.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894009,0.445481,-0.047905],[-0.447937,0.891050,-0.073363],[0.010004,0.087046,0.996154]]
2025-10-25T04:05:08.742Z,1761365108.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507141
2025-10-25T04:05:08.747Z,1761365108.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:08.766Z,1761365108.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 51.079967 m,
      bearing: 335.607179 deg,
      approach rate: -0.532889 m/s,
      LOS rate: -0.022243 deg/s,
      cmd heading: 332.230319 deg,
      new cmd heading: 332.200590 deg.

2025-10-25T04:05:08.767Z,1761365108.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797994 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:08.994Z,1761365108.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758911
2025-10-25T04:05:09.049Z,1761365109.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896511,0.440228,-0.049661],[-0.442911,0.893133,-0.078375],[0.009851,0.092260,0.995686]]
2025-10-25T04:05:09.087Z,1761365109.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:09.090Z,1761365109.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 50.909309 m,
      bearing: 335.598952 deg,
      approach rate: -0.501661 m/s,
      LOS rate: -0.024264 deg/s,
      cmd heading: 332.200594 deg,
      new cmd heading: 332.175831 deg.

2025-10-25T04:05:09.091Z,1761365109.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797562 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:09.249Z,1761365109.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013551
2025-10-25T04:05:09.453Z,1761365109.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898177,0.436623,-0.051375],[-0.439521,0.894449,-0.082354],[0.009995,0.096549,0.995278]]
2025-10-25T04:05:09.489Z,1761365109.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:09.491Z,1761365109.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 50.706631 m,
      bearing: 335.588244 deg,
      approach rate: -0.504659 m/s,
      LOS rate: -0.026768 deg/s,
      cmd heading: 332.175841 deg,
      new cmd heading: 332.143589 deg.

2025-10-25T04:05:09.493Z,1761365109.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796999 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:09.498Z,1761365109.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263085
2025-10-25T04:05:09.750Z,1761365109.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515006
2025-10-25T04:05:09.915Z,1761365109.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:09.918Z,1761365109.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:09.921Z,1761365109.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 50.484646 m,
      bearing: 335.581692 deg,
      approach rate: -0.518706 m/s,
      LOS rate: -0.015376 deg/s,
      cmd heading: 332.143603 deg,
      new cmd heading: 332.123861 deg.

2025-10-25T04:05:09.922Z,1761365109.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796655 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:10.002Z,1761365110.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767243
2025-10-25T04:05:10.069Z,1761365110.069 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:05:10.254Z,1761365110.254 [DAT](INFO): DAT read: Rx Time:04:05:09.1462

2025-10-25T04:05:10.254Z,1761365110.254 [DAT](INFO): Rx dataTimestamp_ set to:1761365110.253923
2025-10-25T04:05:10.255Z,1761365110.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020140
2025-10-25T04:05:10.264Z,1761365110.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899694,0.433142,-0.054211],[-0.436371,0.895680,-0.085663],[0.011451,0.100726,0.994848]]
2025-10-25T04:05:10.327Z,1761365110.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:10.335Z,1761365110.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 50.278996 m,
      bearing: 335.574741 deg,
      approach rate: -0.500597 m/s,
      LOS rate: -0.016990 deg/s,
      cmd heading: 332.123850 deg,
      new cmd heading: 332.102911 deg.

2025-10-25T04:05:10.341Z,1761365110.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796289 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:10.505Z,1761365110.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270840
2025-10-25T04:05:10.667Z,1761365110.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899938,0.432397,-0.056085],[-0.435830,0.895857,-0.086560],[0.012816,0.102343,0.994667]]
2025-10-25T04:05:10.750Z,1761365110.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.35 m.
2025-10-25T04:05:10.769Z,1761365110.769 [DAT](INFO): DAT read: 04:05:09.1462 LVL= 17184, 28625, 17074, 26819, AGC= 63, IDX= 416, 0.42, 2.710, 1.275, 2.725, 2.338, PHS= 0.459,-1.016, 0.384, RAW= 147.4,   2.4, CAL= 150.3,  -6.4, ROT= 359.7,   6.4

2025-10-25T04:05:10.770Z,1761365110.770 [DAT](INFO): got valid direction response:
 04:05:09.1462 LVL= 17184, 28625, 17074, 26819, AGC= 63, IDX= 416, 0.42, 2.710, 1.275, 2.725, 2.338, PHS= 0.459,-1.016, 0.384, RAW= 147.4,   2.4, CAL= 150.3,  -6.4, ROT= 359.7,   6.4

2025-10-25T04:05:10.771Z,1761365110.771 [DAT](INFO): DAT read: Bearing 359.7,   6.4 (Local)

2025-10-25T04:05:10.771Z,1761365110.771 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   6.4 (Local)

2025-10-25T04:05:10.773Z,1761365110.773 [DAT](INFO): DAT read: Range 10 to 50 : 50.7 m  (Round-trip  67.6 ms) speed  0.4 m/s

2025-10-25T04:05:10.773Z,1761365110.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:10.774Z,1761365110.774 [DAT](INFO): direction in FSK: [0.993754,-0.005203,-0.111469]
2025-10-25T04:05:10.774Z,1761365110.774 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:10.780Z,1761365110.780 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:10.780Z,1761365110.780 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:10.780Z,1761365110.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:10.793Z,1761365110.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.346275 m,
      nav range: 50.053661 m,
      bearing: 335.566706 deg,
      approach rate: -0.533097 m/s,
      LOS rate: -0.019096 deg/s,
      cmd heading: 332.102922 deg,
      new cmd heading: 332.078707 deg.

2025-10-25T04:05:10.794Z,1761365110.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795867 target range: 52.346275 and range: 52.60 m.
2025-10-25T04:05:11.014Z,1761365111.014 [DAT](INFO): DAT read: user:333>

2025-10-25T04:05:11.015Z,1761365111.015 [DAT](INFO): DAT read: Tx time:04:05:10.4745

2025-10-25T04:05:11.015Z,1761365111.015 [DAT](INFO): Ping request sent.
2025-10-25T04:05:11.015Z,1761365111.015 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:11.015Z,1761365111.015 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:11.016Z,1761365111.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-25T04:05:11.073Z,1761365111.073 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:05:11.090Z,1761365111.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899580,0.433025,-0.056974],[-0.436530,0.895631,-0.085358],[0.014066,0.101657,0.994720]]
2025-10-25T04:05:11.185Z,1761365111.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.700001 m,
      deltaT: 3.785858 s,
      deltaX: -1.899998 m,
      approachRate: -0.501867 m/s,
      rangeRepo size: 4

2025-10-25T04:05:11.187Z,1761365111.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.457699 m,
      bearing: 334.468972 deg,
      lat: 36.779466 deg,
      lon: -121.859725 deg,
      deltaT: 3.785858 s,
      deltaX: -1.888577 m,
      approachRate: -0.498850 m/s,
      posRepo size: 4

2025-10-25T04:05:11.188Z,1761365111.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:11.203Z,1761365111.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 49.911182 m,
      bearing: 335.222786 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019096 deg/s,
      cmd heading: 332.078716 deg,
      new cmd heading: 332.054294 deg.

2025-10-25T04:05:11.204Z,1761365111.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795441 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:11.266Z,1761365111.266 [DAT](INFO): DAT read: TxSync time:04:05:10.4737

2025-10-25T04:05:11.266Z,1761365111.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251335
2025-10-25T04:05:11.498Z,1761365111.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899203,0.433676,-0.057956],[-0.437255,0.895426,-0.083790],[0.015557,0.100686,0.994797]]
2025-10-25T04:05:11.518Z,1761365111.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502506
2025-10-25T04:05:11.559Z,1761365111.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:11.566Z,1761365111.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 49.697845 m,
      bearing: 335.214015 deg,
      approach rate: -0.557633 m/s,
      LOS rate: -0.023027 deg/s,
      cmd heading: 332.054291 deg,
      new cmd heading: 332.027862 deg.

2025-10-25T04:05:11.567Z,1761365111.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794980 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:11.770Z,1761365111.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754633
2025-10-25T04:05:11.889Z,1761365111.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897563,0.436593,-0.061375],[-0.440554,0.893556,-0.086432],[0.017106,0.104618,0.994365]]
2025-10-25T04:05:11.938Z,1761365111.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:11.941Z,1761365111.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:11.943Z,1761365111.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 49.489666 m,
      bearing: 335.216083 deg,
      approach rate: -0.545813 m/s,
      LOS rate: 0.005446 deg/s,
      cmd heading: 332.027872 deg,
      new cmd heading: 332.034104 deg.

2025-10-25T04:05:11.962Z,1761365111.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795088 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:12.022Z,1761365112.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006716
2025-10-25T04:05:12.274Z,1761365112.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258716
2025-10-25T04:05:12.330Z,1761365112.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896201,0.439337,-0.061690],[-0.443250,0.892582,-0.082620],[0.018765,0.101388,0.994670]]
2025-10-25T04:05:12.384Z,1761365112.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:12.387Z,1761365112.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 49.258442 m,
      bearing: 335.219229 deg,
      approach rate: -0.521501 m/s,
      LOS rate: 0.007128 deg/s,
      cmd heading: 332.034101 deg,
      new cmd heading: 332.043583 deg.

2025-10-25T04:05:12.388Z,1761365112.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795254 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:12.525Z,1761365112.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510364
2025-10-25T04:05:12.697Z,1761365112.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894552,0.442649,-0.061960],[-0.446509,0.891270,-0.079168],[0.020179,0.098486,0.994934]]
2025-10-25T04:05:12.745Z,1761365112.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:12.748Z,1761365112.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 49.067287 m,
      bearing: 335.220294 deg,
      approach rate: -0.530264 m/s,
      LOS rate: 0.002965 deg/s,
      cmd heading: 332.043581 deg,
      new cmd heading: 332.046788 deg.

2025-10-25T04:05:12.749Z,1761365112.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795310 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:12.778Z,1761365112.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762669
2025-10-25T04:05:13.030Z,1761365113.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015113
2025-10-25T04:05:13.104Z,1761365113.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893550,0.444784,-0.061115],[-0.448512,0.890444,-0.077110],[0.020122,0.096313,0.995148]]
2025-10-25T04:05:13.123Z,1761365113.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:13.126Z,1761365113.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 48.870464 m,
      bearing: 335.221918 deg,
      approach rate: -0.519089 m/s,
      LOS rate: 0.004302 deg/s,
      cmd heading: 332.046778 deg,
      new cmd heading: 332.051671 deg.

2025-10-25T04:05:13.127Z,1761365113.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795395 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:13.283Z,1761365113.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267319
2025-10-25T04:05:13.534Z,1761365113.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518464
2025-10-25T04:05:13.566Z,1761365113.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:13.568Z,1761365113.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 48.652409 m,
      bearing: 335.223734 deg,
      approach rate: -0.495718 m/s,
      LOS rate: 0.004145 deg/s,
      cmd heading: 332.051668 deg,
      new cmd heading: 332.057138 deg.

2025-10-25T04:05:13.569Z,1761365113.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795490 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:13.786Z,1761365113.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770371
2025-10-25T04:05:13.909Z,1761365113.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892655,0.446555,-0.061282],[-0.450260,0.889701,-0.075492],[0.020812,0.094981,0.995261]]
2025-10-25T04:05:13.963Z,1761365113.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:13.982Z,1761365113.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:13.993Z,1761365113.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 48.436981 m,
      bearing: 335.219349 deg,
      approach rate: -0.514493 m/s,
      LOS rate: -0.010517 deg/s,
      cmd heading: 332.057132 deg,
      new cmd heading: 332.043922 deg.

2025-10-25T04:05:13.994Z,1761365113.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795259 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:14.038Z,1761365114.038 [DAT](INFO): DAT read: Rx Time:04:05:12.9438

2025-10-25T04:05:14.038Z,1761365114.038 [DAT](INFO): Rx dataTimestamp_ set to:1761365114.038057
2025-10-25T04:05:14.039Z,1761365114.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023742
2025-10-25T04:05:14.290Z,1761365114.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274570
2025-10-25T04:05:14.343Z,1761365114.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892626,0.446362,-0.063085],[-0.450271,0.889575,-0.076893],[0.021797,0.097042,0.995042]]
2025-10-25T04:05:14.416Z,1761365114.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.46 m.
2025-10-25T04:05:14.423Z,1761365114.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.457699 m,
      nav range: 48.217682 m,
      bearing: 335.214853 deg,
      approach rate: -0.505411 m/s,
      LOS rate: -0.010409 deg/s,
      cmd heading: 332.043909 deg,
      new cmd heading: 332.030360 deg.

2025-10-25T04:05:14.424Z,1761365114.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795023 target range: 50.457699 and range: 50.70 m.
2025-10-25T04:05:14.548Z,1761365114.548 [DAT](INFO): DAT read: 04:05:12.9438 LVL= 15312, 24753, 15154, 23875, AGC= 61, IDX= 422, 0.09,-0.193,-1.622,-0.148,-0.579, PHS= 0.474,-0.996, 0.428, RAW= 148.4,   1.3, CAL= 151.5,  -7.6, ROT= 358.5,   7.6

2025-10-25T04:05:14.550Z,1761365114.550 [DAT](INFO): got valid direction response:
 04:05:12.9438 LVL= 15312, 24753, 15154, 23875, AGC= 61, IDX= 422, 0.09,-0.193,-1.622,-0.148,-0.579, PHS= 0.474,-0.996, 0.428, RAW= 148.4,   1.3, CAL= 151.5,  -7.6, ROT= 358.5,   7.6

2025-10-25T04:05:14.550Z,1761365114.550 [DAT](INFO): DAT read: Bearing 358.5,   7.6 (Local)

2025-10-25T04:05:14.551Z,1761365114.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   7.6 (Local)

2025-10-25T04:05:14.552Z,1761365114.552 [DAT](INFO): DAT read: Range 10 to 50 : 48.8 m  (Round-trip  65.1 ms) speed  0.5 m/s

2025-10-25T04:05:14.553Z,1761365114.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:14.554Z,1761365114.554 [DAT](INFO): direction in FSK: [0.990876,-0.025947,-0.132256]
2025-10-25T04:05:14.554Z,1761365114.554 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:14.566Z,1761365114.566 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:14.566Z,1761365114.566 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:14.566Z,1761365114.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:14.794Z,1761365114.794 [DAT](INFO): DAT read: user:334>

2025-10-25T04:05:14.795Z,1761365114.795 [DAT](INFO): DAT read: Tx time:04:05:14.2746

2025-10-25T04:05:14.796Z,1761365114.796 [DAT](INFO): Ping request sent.
2025-10-25T04:05:14.796Z,1761365114.796 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:14.796Z,1761365114.796 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:14.797Z,1761365114.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000874
2025-10-25T04:05:14.810Z,1761365114.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.799999 m,
      deltaT: 3.778370 s,
      deltaX: -1.900002 m,
      approachRate: -0.502863 m/s,
      rangeRepo size: 4

2025-10-25T04:05:14.822Z,1761365114.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.567905 m,
      bearing: 332.483176 deg,
      lat: 36.779466 deg,
      lon: -121.859733 deg,
      deltaT: 3.778370 s,
      deltaX: -1.889793 m,
      approachRate: -0.500161 m/s,
      posRepo size: 4

2025-10-25T04:05:14.822Z,1761365114.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:14.830Z,1761365114.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 48.311657 m,
      bearing: 334.424680 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010409 deg/s,
      cmd heading: 332.030358 deg,
      new cmd heading: 332.018065 deg.

2025-10-25T04:05:14.831Z,1761365114.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794808 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:15.047Z,1761365115.047 [DAT](INFO): DAT read: TxSync time:04:05:14.2738

2025-10-25T04:05:15.047Z,1761365115.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251548
2025-10-25T04:05:15.125Z,1761365115.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892816,0.445685,-0.065153],[-0.449837,0.889650,-0.078548],[0.022956,0.099437,0.994779]]
2025-10-25T04:05:15.181Z,1761365115.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:15.184Z,1761365115.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 48.131279 m,
      bearing: 334.415833 deg,
      approach rate: -0.491505 m/s,
      LOS rate: -0.024197 deg/s,
      cmd heading: 332.018064 deg,
      new cmd heading: 331.991423 deg.

2025-10-25T04:05:15.189Z,1761365115.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794343 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:15.298Z,1761365115.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502266
2025-10-25T04:05:15.520Z,1761365115.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893024,0.444911,-0.067544],[-0.449350,0.889736,-0.080339],[0.024353,0.102095,0.994476]]
2025-10-25T04:05:15.550Z,1761365115.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753881
2025-10-25T04:05:15.565Z,1761365115.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:15.568Z,1761365115.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 47.937626 m,
      bearing: 334.406149 deg,
      approach rate: -0.504099 m/s,
      LOS rate: -0.025309 deg/s,
      cmd heading: 331.991426 deg,
      new cmd heading: 331.962258 deg.

2025-10-25T04:05:15.573Z,1761365115.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793834 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:15.801Z,1761365115.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005666
2025-10-25T04:05:15.926Z,1761365115.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893731,0.443704,-0.066125],[-0.447886,0.890891,-0.075573],[0.025378,0.097159,0.994945]]
2025-10-25T04:05:15.990Z,1761365115.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:15.998Z,1761365115.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:16.005Z,1761365116.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 47.726788 m,
      bearing: 334.379756 deg,
      approach rate: -0.488498 m/s,
      LOS rate: -0.061421 deg/s,
      cmd heading: 331.962247 deg,
      new cmd heading: 331.882719 deg.

2025-10-25T04:05:16.006Z,1761365116.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792446 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:16.055Z,1761365116.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258792
2025-10-25T04:05:16.307Z,1761365116.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510532
2025-10-25T04:05:16.387Z,1761365116.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:16.390Z,1761365116.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 47.525120 m,
      bearing: 334.354291 deg,
      approach rate: -0.510463 m/s,
      LOS rate: -0.064732 deg/s,
      cmd heading: 331.882717 deg,
      new cmd heading: 331.805996 deg.

2025-10-25T04:05:16.391Z,1761365116.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791107 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:16.558Z,1761365116.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761775
2025-10-25T04:05:16.747Z,1761365116.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898181,0.434445,-0.067289],[-0.438906,0.894899,-0.080728],[0.025145,0.102042,0.994462]]
2025-10-25T04:05:16.810Z,1761365116.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013764
2025-10-25T04:05:16.818Z,1761365116.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:16.825Z,1761365116.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 47.335869 m,
      bearing: 334.319720 deg,
      approach rate: -0.439427 m/s,
      LOS rate: -0.080590 deg/s,
      cmd heading: 331.806000 deg,
      new cmd heading: 331.701875 deg.

2025-10-25T04:05:16.826Z,1761365116.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789290 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:17.068Z,1761365117.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272227
2025-10-25T04:05:17.248Z,1761365117.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899340,0.432135,-0.066684],[-0.436557,0.895994,-0.081313],[0.024610,0.102240,0.994455]]
2025-10-25T04:05:17.279Z,1761365117.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:17.284Z,1761365117.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 47.104271 m,
      bearing: 334.276281 deg,
      approach rate: -0.503263 m/s,
      LOS rate: -0.094859 deg/s,
      cmd heading: 331.701881 deg,
      new cmd heading: 331.570921 deg.

2025-10-25T04:05:17.286Z,1761365117.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787004 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:17.318Z,1761365117.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521812
2025-10-25T04:05:17.570Z,1761365117.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773987
2025-10-25T04:05:17.651Z,1761365117.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900720,0.429379,-0.065852],[-0.433735,0.897329,-0.081700],[0.024010,0.102151,0.994479]]
2025-10-25T04:05:17.767Z,1761365117.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:17.775Z,1761365117.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 46.918339 m,
      bearing: 334.240362 deg,
      approach rate: -0.380204 m/s,
      LOS rate: -0.073739 deg/s,
      cmd heading: 331.570932 deg,
      new cmd heading: 331.462750 deg.

2025-10-25T04:05:17.776Z,1761365117.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785116 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:17.822Z,1761365117.822 [DAT](INFO): DAT read: Rx Time:04:05:16.7411

2025-10-25T04:05:17.822Z,1761365117.822 [DAT](INFO): Rx dataTimestamp_ set to:1761365117.822065
2025-10-25T04:05:17.823Z,1761365117.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027077
2025-10-25T04:05:18.073Z,1761365118.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277677
2025-10-25T04:05:18.188Z,1761365118.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901676,0.427587,-0.064420],[-0.431813,0.898221,-0.082083],[0.022766,0.101830,0.994541]]
2025-10-25T04:05:18.274Z,1761365118.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:18.278Z,1761365118.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.57 m.
2025-10-25T04:05:18.282Z,1761365118.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.567905 m,
      nav range: 46.634121 m,
      bearing: 334.170999 deg,
      approach rate: -0.558067 m/s,
      LOS rate: -0.137027 deg/s,
      cmd heading: 331.462742 deg,
      new cmd heading: 331.253384 deg.

2025-10-25T04:05:18.284Z,1761365118.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781462 target range: 48.567905 and range: 48.80 m.
2025-10-25T04:05:18.332Z,1761365118.332 [DAT](INFO): DAT read: 04:05:16.7411 LVL= 17904, 28449, 16706, 24803, AGC= 62, IDX= 411,-0.29,-2.088, 2.830,-1.942,-2.386, PHS= 0.386,-1.020, 0.441, RAW= 151.9,   2.7, CAL= 154.1,  -6.2, ROT= 355.9,   6.2

2025-10-25T04:05:18.334Z,1761365118.334 [DAT](INFO): got valid direction response:
 04:05:16.7411 LVL= 17904, 28449, 16706, 24803, AGC= 62, IDX= 411,-0.29,-2.088, 2.830,-1.942,-2.386, PHS= 0.386,-1.020, 0.441, RAW= 151.9,   2.7, CAL= 154.1,  -6.2, ROT= 355.9,   6.2

2025-10-25T04:05:18.335Z,1761365118.335 [DAT](INFO): DAT read: Bearing 355.9,   6.2 (Local)

2025-10-25T04:05:18.335Z,1761365118.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,   6.2 (Local)

2025-10-25T04:05:18.336Z,1761365118.336 [DAT](INFO): DAT read: Range 10 to 50 : 46.8 m  (Round-trip  62.4 ms) speed  0.4 m/s

2025-10-25T04:05:18.337Z,1761365118.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:18.338Z,1761365118.338 [DAT](INFO): direction in FSK: [0.991607,-0.071080,-0.107999]
2025-10-25T04:05:18.338Z,1761365118.338 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:18.342Z,1761365118.342 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:18.342Z,1761365118.342 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:18.343Z,1761365118.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:18.568Z,1761365118.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902559,0.425939,-0.062954],[-0.430021,0.899087,-0.082008],[0.021671,0.101089,0.994641]]
2025-10-25T04:05:18.578Z,1761365118.578 [DAT](INFO): DAT read: user:335>

2025-10-25T04:05:18.579Z,1761365118.579 [DAT](INFO): DAT read: Tx time:04:05:18.0246

2025-10-25T04:05:18.580Z,1761365118.580 [DAT](INFO): Ping request sent.
2025-10-25T04:05:18.580Z,1761365118.580 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:18.580Z,1761365118.580 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:18.581Z,1761365118.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000859
2025-10-25T04:05:18.630Z,1761365118.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.799999 m,
      deltaT: 3.783841 s,
      deltaX: -2.000000 m,
      approachRate: -0.528563 m/s,
      rangeRepo size: 4

2025-10-25T04:05:18.649Z,1761365118.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.576992 m,
      bearing: 331.081684 deg,
      lat: 36.779459 deg,
      lon: -121.859742 deg,
      deltaT: 3.783841 s,
      deltaX: -1.990913 m,
      approachRate: -0.526162 m/s,
      posRepo size: 4

2025-10-25T04:05:18.649Z,1761365118.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:18.652Z,1761365118.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 46.163322 m,
      bearing: 332.758873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.137027 deg/s,
      cmd heading: 331.253383 deg,
      new cmd heading: 331.110446 deg.

2025-10-25T04:05:18.667Z,1761365118.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778967 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:18.833Z,1761365118.833 [DAT](INFO): DAT read: TxSync time:04:05:18.0238

2025-10-25T04:05:18.835Z,1761365118.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254729
2025-10-25T04:05:19.010Z,1761365119.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903145,0.424867,-0.061789],[-0.428846,0.899597,-0.082554],[0.020511,0.101057,0.994669]]
2025-10-25T04:05:19.058Z,1761365119.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:19.065Z,1761365119.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 45.961761 m,
      bearing: 332.701297 deg,
      approach rate: -0.464436 m/s,
      LOS rate: -0.133247 deg/s,
      cmd heading: 331.110441 deg,
      new cmd heading: 330.936957 deg.

2025-10-25T04:05:19.066Z,1761365119.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775939 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:19.082Z,1761365119.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501747
2025-10-25T04:05:19.334Z,1761365119.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754098
2025-10-25T04:05:19.407Z,1761365119.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902615,0.425872,-0.062605],[-0.429937,0.899047,-0.082873],[0.020992,0.101718,0.994592]]
2025-10-25T04:05:19.444Z,1761365119.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:19.447Z,1761365119.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 45.772270 m,
      bearing: 332.647001 deg,
      approach rate: -0.490946 m/s,
      LOS rate: -0.141257 deg/s,
      cmd heading: 330.936954 deg,
      new cmd heading: 330.773391 deg.

2025-10-25T04:05:19.448Z,1761365119.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773085 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:19.585Z,1761365119.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005529
2025-10-25T04:05:19.813Z,1761365119.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901980,0.427505,-0.060588],[-0.431293,0.898697,-0.079561],[0.020437,0.097893,0.994987]]
2025-10-25T04:05:19.838Z,1761365119.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257638
2025-10-25T04:05:19.866Z,1761365119.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:19.868Z,1761365119.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 45.570969 m,
      bearing: 332.601497 deg,
      approach rate: -0.477855 m/s,
      LOS rate: -0.108494 deg/s,
      cmd heading: 330.773385 deg,
      new cmd heading: 330.636271 deg.

2025-10-25T04:05:19.889Z,1761365119.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770691 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:20.090Z,1761365120.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510131
2025-10-25T04:05:20.217Z,1761365120.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901222,0.429483,-0.057817],[-0.432956,0.898077,-0.077501],[0.018638,0.094878,0.995314]]
2025-10-25T04:05:20.236Z,1761365120.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:20.255Z,1761365120.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 45.392982 m,
      bearing: 332.561359 deg,
      approach rate: -0.480663 m/s,
      LOS rate: -0.108823 deg/s,
      cmd heading: 330.636262 deg,
      new cmd heading: 330.515373 deg.

2025-10-25T04:05:20.256Z,1761365120.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768581 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:20.343Z,1761365120.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717
2025-10-25T04:05:20.593Z,1761365120.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013586
2025-10-25T04:05:20.620Z,1761365120.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901016,0.430415,-0.053979],[-0.433488,0.898012,-0.075246],[0.016087,0.091197,0.995703]]
2025-10-25T04:05:20.637Z,1761365120.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:20.639Z,1761365120.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:20.642Z,1761365120.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 45.198875 m,
      bearing: 332.517380 deg,
      approach rate: -0.480900 m/s,
      LOS rate: -0.109426 deg/s,
      cmd heading: 330.515367 deg,
      new cmd heading: 330.382864 deg.

2025-10-25T04:05:20.643Z,1761365120.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766269 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:20.851Z,1761365120.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270693
2025-10-25T04:05:21.029Z,1761365121.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900037,0.432859,-0.050654],[-0.435586,0.897218,-0.072552],[0.014043,0.087364,0.996077]]
2025-10-25T04:05:21.091Z,1761365121.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:21.098Z,1761365121.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518232
2025-10-25T04:05:21.100Z,1761365121.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 44.975716 m,
      bearing: 332.480340 deg,
      approach rate: -0.494697 m/s,
      LOS rate: -0.082516 deg/s,
      cmd heading: 330.382862 deg,
      new cmd heading: 330.271192 deg.

2025-10-25T04:05:21.117Z,1761365121.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764320 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:21.350Z,1761365121.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769878
2025-10-25T04:05:21.430Z,1761365121.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898999,0.435307,-0.048053],[-0.437774,0.896333,-0.070293],[0.012472,0.084229,0.996368]]
2025-10-25T04:05:21.457Z,1761365121.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:21.462Z,1761365121.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 44.792385 m,
      bearing: 332.450239 deg,
      approach rate: -0.504386 m/s,
      LOS rate: -0.083153 deg/s,
      cmd heading: 330.271202 deg,
      new cmd heading: 330.180531 deg.

2025-10-25T04:05:21.485Z,1761365121.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762737 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:21.602Z,1761365121.602 [DAT](INFO): DAT read: Rx Time:04:05:20.4888

2025-10-25T04:05:21.602Z,1761365121.602 [DAT](INFO): Rx dataTimestamp_ set to:1761365121.601840
2025-10-25T04:05:21.603Z,1761365121.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022753
2025-10-25T04:05:21.832Z,1761365121.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897741,0.438174,-0.045437],[-0.440395,0.895187,-0.068498],[0.010660,0.081504,0.996616]]
2025-10-25T04:05:21.855Z,1761365121.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275145
2025-10-25T04:05:21.886Z,1761365121.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.58 m.
2025-10-25T04:05:21.912Z,1761365121.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.576992 m,
      nav range: 44.560799 m,
      bearing: 332.438824 deg,
      approach rate: -0.535775 m/s,
      LOS rate: -0.026547 deg/s,
      cmd heading: 330.180524 deg,
      new cmd heading: 330.146100 deg.

2025-10-25T04:05:21.920Z,1761365121.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762136 target range: 46.576992 and range: 46.80 m.
2025-10-25T04:05:22.112Z,1761365122.112 [DAT](INFO): DAT read: 04:05:20.4888 LVL= 18480, 24737, 15810, 25203, AGC= 63, IDX= 419, 0.16,-2.392, 2.472,-2.280,-2.752, PHS= 0.448,-1.012, 0.469, RAW= 150.7,   1.3, CAL= 153.5,  -7.6, ROT= 356.5,   7.6

2025-10-25T04:05:22.113Z,1761365122.113 [DAT](INFO): got valid direction response:
 04:05:20.4888 LVL= 18480, 24737, 15810, 25203, AGC= 63, IDX= 419, 0.16,-2.392, 2.472,-2.280,-2.752, PHS= 0.448,-1.012, 0.469, RAW= 150.7,   1.3, CAL= 153.5,  -7.6, ROT= 356.5,   7.6

2025-10-25T04:05:22.114Z,1761365122.114 [DAT](INFO): DAT read: Bearing 356.5,   7.6 (Local)

2025-10-25T04:05:22.114Z,1761365122.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,   7.6 (Local)

2025-10-25T04:05:22.116Z,1761365122.116 [DAT](INFO): DAT read: Range 10 to 50 : 45.0 m  (Round-trip  60.1 ms) speed  0.4 m/s

2025-10-25T04:05:22.116Z,1761365122.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:22.118Z,1761365122.118 [DAT](INFO): direction in FSK: [0.989367,-0.060512,-0.132256]
2025-10-25T04:05:22.118Z,1761365122.118 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:22.121Z,1761365122.121 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:22.122Z,1761365122.122 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:22.122Z,1761365122.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:22.270Z,1761365122.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894139,0.445750,-0.042679],[-0.447722,0.891585,-0.067986],[0.007747,0.079897,0.996773]]
2025-10-25T04:05:22.358Z,1761365122.358 [DAT](INFO): DAT read: user:336>

2025-10-25T04:05:22.358Z,1761365122.358 [DAT](INFO): DAT read: Tx time:04:05:21.8246

2025-10-25T04:05:22.359Z,1761365122.359 [DAT](INFO): Ping request sent.
2025-10-25T04:05:22.359Z,1761365122.359 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:22.359Z,1761365122.359 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:22.360Z,1761365122.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-10-25T04:05:22.380Z,1761365122.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.000000 m,
      deltaT: 3.780024 s,
      deltaX: -1.799999 m,
      approachRate: -0.476187 m/s,
      rangeRepo size: 4

2025-10-25T04:05:22.383Z,1761365122.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.784809 m,
      bearing: 330.525753 deg,
      lat: 36.779459 deg,
      lon: -121.859749 deg,
      deltaT: 3.780024 s,
      deltaX: -1.792183 m,
      approachRate: -0.474119 m/s,
      posRepo size: 4

2025-10-25T04:05:22.383Z,1761365122.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:22.391Z,1761365122.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 44.603310 m,
      bearing: 331.760362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026547 deg/s,
      cmd heading: 330.146100 deg,
      new cmd heading: 330.107124 deg.

2025-10-25T04:05:22.392Z,1761365122.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761456 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:22.610Z,1761365122.610 [DAT](INFO): DAT read: TxSync time:04:05:21.8238

2025-10-25T04:05:22.611Z,1761365122.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252488
2025-10-25T04:05:22.665Z,1761365122.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892051,0.450033,-0.041413],[-0.451885,0.889557,-0.066995],[0.006690,0.078477,0.996894]]
2025-10-25T04:05:22.683Z,1761365122.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:22.686Z,1761365122.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:22.700Z,1761365122.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 44.412628 m,
      bearing: 331.751160 deg,
      approach rate: -0.615256 m/s,
      LOS rate: -0.029816 deg/s,
      cmd heading: 330.107113 deg,
      new cmd heading: 330.079391 deg.

2025-10-25T04:05:22.702Z,1761365122.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760972 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:22.863Z,1761365122.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503728
2025-10-25T04:05:23.069Z,1761365123.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889811,0.454490,-0.040931],[-0.456289,0.887341,-0.066531],[0.006082,0.077877,0.996944]]
2025-10-25T04:05:23.114Z,1761365123.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755276
2025-10-25T04:05:23.126Z,1761365123.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:23.131Z,1761365123.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 44.170864 m,
      bearing: 331.753614 deg,
      approach rate: -0.548406 m/s,
      LOS rate: 0.005596 deg/s,
      cmd heading: 330.079383 deg,
      new cmd heading: 330.086784 deg.

2025-10-25T04:05:23.132Z,1761365123.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761101 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:23.368Z,1761365123.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009129
2025-10-25T04:05:23.535Z,1761365123.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887066,0.459887,-0.040211],[-0.461608,0.884684,-0.065208],[0.005586,0.076406,0.997061]]
2025-10-25T04:05:23.566Z,1761365123.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:23.569Z,1761365123.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 43.933247 m,
      bearing: 331.757932 deg,
      approach rate: -0.540499 m/s,
      LOS rate: 0.009875 deg/s,
      cmd heading: 330.086787 deg,
      new cmd heading: 330.099810 deg.

2025-10-25T04:05:23.570Z,1761365123.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761329 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:23.619Z,1761365123.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259750
2025-10-25T04:05:23.870Z,1761365123.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510733
2025-10-25T04:05:23.948Z,1761365123.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:23.951Z,1761365123.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 43.719303 m,
      bearing: 331.769256 deg,
      approach rate: -0.560685 m/s,
      LOS rate: 0.029823 deg/s,
      cmd heading: 330.099819 deg,
      new cmd heading: 330.133958 deg.

2025-10-25T04:05:23.952Z,1761365123.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761925 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:24.121Z,1761365124.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762681
2025-10-25T04:05:24.286Z,1761365124.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883114,0.467607,-0.038122],[-0.469154,0.880538,-0.067438],[0.002033,0.077440,0.996995]]
2025-10-25T04:05:24.315Z,1761365124.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:24.318Z,1761365124.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 43.516544 m,
      bearing: 331.782363 deg,
      approach rate: -0.552354 m/s,
      LOS rate: 0.035872 deg/s,
      cmd heading: 330.133970 deg,
      new cmd heading: 330.173473 deg.

2025-10-25T04:05:24.319Z,1761365124.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762614 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:24.374Z,1761365124.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015642
2025-10-25T04:05:24.626Z,1761365124.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807
2025-10-25T04:05:24.684Z,1761365124.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881132,0.471378,-0.037530],[-0.472870,0.878425,-0.069021],[0.000432,0.078564,0.996909]]
2025-10-25T04:05:24.702Z,1761365124.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:24.704Z,1761365124.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:24.707Z,1761365124.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 43.298458 m,
      bearing: 331.797807 deg,
      approach rate: -0.560060 m/s,
      LOS rate: 0.039860 deg/s,
      cmd heading: 330.173475 deg,
      new cmd heading: 330.220040 deg.

2025-10-25T04:05:24.708Z,1761365124.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763427 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:24.878Z,1761365124.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519046
2025-10-25T04:05:25.089Z,1761365125.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878909,0.475531,-0.037274],[-0.476989,0.876047,-0.070876],[-0.001050,0.080073,0.996788]]
2025-10-25T04:05:25.130Z,1761365125.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028
2025-10-25T04:05:25.144Z,1761365125.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:25.148Z,1761365125.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 43.048344 m,
      bearing: 331.817938 deg,
      approach rate: -0.569023 m/s,
      LOS rate: 0.046065 deg/s,
      cmd heading: 330.220030 deg,
      new cmd heading: 330.280773 deg.

2025-10-25T04:05:25.149Z,1761365125.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764487 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:25.382Z,1761365125.382 [DAT](INFO): DAT read: Rx Time:04:05:24.2862

2025-10-25T04:05:25.382Z,1761365125.382 [DAT](INFO): Rx dataTimestamp_ set to:1761365125.381811
2025-10-25T04:05:25.383Z,1761365125.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023835
2025-10-25T04:05:25.496Z,1761365125.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877272,0.478516,-0.037636],[-0.479988,0.874180,-0.073625],[-0.002330,0.082654,0.996576]]
2025-10-25T04:05:25.520Z,1761365125.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.78 m.
2025-10-25T04:05:25.525Z,1761365125.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.784809 m,
      nav range: 42.837585 m,
      bearing: 331.836041 deg,
      approach rate: -0.562022 m/s,
      LOS rate: 0.048514 deg/s,
      cmd heading: 330.280764 deg,
      new cmd heading: 330.335342 deg.

2025-10-25T04:05:25.526Z,1761365125.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765440 target range: 44.784809 and range: 45.00 m.
2025-10-25T04:05:25.635Z,1761365125.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275909
2025-10-25T04:05:25.891Z,1761365125.891 [DAT](INFO): DAT read: 04:05:24.2862 LVL= 20144, 32353, 21186, 30195, AGC= 65, IDX= 408,-0.07, 2.490, 1.081, 2.412, 2.132, PHS= 0.446,-1.003, 0.278, RAW= 143.9,   4.1, CAL= 147.0,  -4.4, ROT=   3.0,   4.4

2025-10-25T04:05:25.892Z,1761365125.892 [DAT](INFO): got valid direction response:
 04:05:24.2862 LVL= 20144, 32353, 21186, 30195, AGC= 65, IDX= 408,-0.07, 2.490, 1.081, 2.412, 2.132, PHS= 0.446,-1.003, 0.278, RAW= 143.9,   4.1, CAL= 147.0,  -4.4, ROT=   3.0,   4.4

2025-10-25T04:05:25.893Z,1761365125.893 [DAT](INFO): DAT read: Bearing   3.0,   4.4 (Local)

2025-10-25T04:05:25.893Z,1761365125.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,   4.4 (Local)

2025-10-25T04:05:25.896Z,1761365125.896 [DAT](INFO): DAT read: Range 10 to 50 : 43.0 m  (Round-trip  57.4 ms) speed  0.6 m/s

2025-10-25T04:05:25.897Z,1761365125.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:25.898Z,1761365125.898 [DAT](INFO): direction in FSK: [0.995686,0.052182,-0.076719]
2025-10-25T04:05:25.898Z,1761365125.898 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:25.902Z,1761365125.902 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:25.902Z,1761365125.902 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:25.902Z,1761365125.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:25.956Z,1761365125.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875450,0.481827,-0.037820],[-0.483297,0.872192,-0.075530],[-0.003406,0.084401,0.996426]]
2025-10-25T04:05:26.071Z,1761365126.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.000000 m,
      deltaT: 3.779960 s,
      deltaX: -2.000000 m,
      approachRate: -0.529106 m/s,
      rangeRepo size: 4

2025-10-25T04:05:26.077Z,1761365126.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.794949 m,
      bearing: 334.460483 deg,
      lat: 36.779459 deg,
      lon: -121.859749 deg,
      deltaT: 3.779960 s,
      deltaX: -1.989861 m,
      approachRate: -0.526424 m/s,
      posRepo size: 4

2025-10-25T04:05:26.079Z,1761365126.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:26.086Z,1761365126.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 42.549583 m,
      bearing: 331.845214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.048514 deg/s,
      cmd heading: 330.335351 deg,
      new cmd heading: 330.415609 deg.

2025-10-25T04:05:26.087Z,1761365126.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766840 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:26.138Z,1761365126.138 [DAT](INFO): DAT read: user:337>

2025-10-25T04:05:26.140Z,1761365126.140 [DAT](INFO): DAT read: Tx time:04:05:25.6247

2025-10-25T04:05:26.140Z,1761365126.140 [DAT](INFO): Ping request sent.
2025-10-25T04:05:26.142Z,1761365126.142 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:26.142Z,1761365126.142 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:26.143Z,1761365126.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002769
2025-10-25T04:05:26.359Z,1761365126.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874046,0.484373,-0.037772],[-0.485824,0.870666,-0.076913],[-0.004368,0.085576,0.996322]]
2025-10-25T04:05:26.380Z,1761365126.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:26.383Z,1761365126.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 42.364193 m,
      bearing: 331.851916 deg,
      approach rate: -0.599141 m/s,
      LOS rate: 0.021753 deg/s,
      cmd heading: 330.415619 deg,
      new cmd heading: 330.435812 deg.

2025-10-25T04:05:26.383Z,1761365126.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767193 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:26.390Z,1761365126.390 [DAT](INFO): DAT read: TxSync time:04:05:25.6239

2025-10-25T04:05:26.391Z,1761365126.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250234
2025-10-25T04:05:26.644Z,1761365126.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503483
2025-10-25T04:05:26.763Z,1761365126.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873012,0.486677,-0.031540],[-0.487679,0.870573,-0.065365],[-0.004353,0.072446,0.997363]]
2025-10-25T04:05:26.801Z,1761365126.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:26.803Z,1761365126.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:26.826Z,1761365126.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 42.143196 m,
      bearing: 331.860544 deg,
      approach rate: -0.521910 m/s,
      LOS rate: 0.020483 deg/s,
      cmd heading: 330.435809 deg,
      new cmd heading: 330.461830 deg.

2025-10-25T04:05:26.835Z,1761365126.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767647 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:26.894Z,1761365126.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753395
2025-10-25T04:05:27.146Z,1761365127.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006173
2025-10-25T04:05:27.181Z,1761365127.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872593,0.487403,-0.031927],[-0.488416,0.869922,-0.068449],[-0.005588,0.075321,0.997144]]
2025-10-25T04:05:27.230Z,1761365127.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:27.233Z,1761365127.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 41.914757 m,
      bearing: 331.849974 deg,
      approach rate: -0.535195 m/s,
      LOS rate: -0.024897 deg/s,
      cmd heading: 330.461819 deg,
      new cmd heading: 330.429938 deg.

2025-10-25T04:05:27.234Z,1761365127.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767090 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:27.398Z,1761365127.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257534
2025-10-25T04:05:27.576Z,1761365127.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872977,0.486539,-0.034513],[-0.487728,0.869894,-0.073521],[-0.005748,0.081015,0.996696]]
2025-10-25T04:05:27.594Z,1761365127.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:27.599Z,1761365127.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 41.727406 m,
      bearing: 331.841092 deg,
      approach rate: -0.513961 m/s,
      LOS rate: -0.024477 deg/s,
      cmd heading: 330.429935 deg,
      new cmd heading: 330.403168 deg.

2025-10-25T04:05:27.602Z,1761365127.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766623 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:27.650Z,1761365127.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510093
2025-10-25T04:05:27.905Z,1761365127.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765026
2025-10-25T04:05:27.978Z,1761365127.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874313,0.484003,-0.036310],[-0.485320,0.870795,-0.078619],[-0.006434,0.086359,0.996243]]
2025-10-25T04:05:28.089Z,1761365128.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:28.092Z,1761365128.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 41.497040 m,
      bearing: 331.803918 deg,
      approach rate: -0.465298 m/s,
      LOS rate: -0.075501 deg/s,
      cmd heading: 330.403161 deg,
      new cmd heading: 330.291021 deg.

2025-10-25T04:05:28.113Z,1761365128.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764666 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:28.157Z,1761365128.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017203
2025-10-25T04:05:28.410Z,1761365128.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269329
2025-10-25T04:05:28.418Z,1761365128.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875735,0.481290,-0.038053],[-0.482746,0.871838,-0.082788],[-0.006669,0.090870,0.995840]]
2025-10-25T04:05:28.437Z,1761365128.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:28.440Z,1761365128.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 41.327885 m,
      bearing: 331.775721 deg,
      approach rate: -0.486510 m/s,
      LOS rate: -0.081430 deg/s,
      cmd heading: 330.291009 deg,
      new cmd heading: 330.206072 deg.

2025-10-25T04:05:28.441Z,1761365128.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763183 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:28.661Z,1761365128.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521183
2025-10-25T04:05:28.813Z,1761365128.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877063,0.478753,-0.039434],[-0.480328,0.872882,-0.085802],[-0.006656,0.094195,0.995531]]
2025-10-25T04:05:28.858Z,1761365128.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:28.874Z,1761365128.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:28.902Z,1761365128.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 41.138046 m,
      bearing: 331.743111 deg,
      approach rate: -0.440384 m/s,
      LOS rate: -0.075997 deg/s,
      cmd heading: 330.206069 deg,
      new cmd heading: 330.107789 deg.

2025-10-25T04:05:28.904Z,1761365128.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761468 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:28.914Z,1761365128.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773529
2025-10-25T04:05:29.166Z,1761365129.166 [DAT](INFO): DAT read: Rx Time:04:05:28.0833

2025-10-25T04:05:29.166Z,1761365129.166 [DAT](INFO): Rx dataTimestamp_ set to:1761365129.165882
2025-10-25T04:05:29.167Z,1761365129.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026410
2025-10-25T04:05:29.223Z,1761365129.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878359,0.476308,-0.040203],[-0.477949,0.873905,-0.088621],[-0.007078,0.097056,0.995254]]
2025-10-25T04:05:29.271Z,1761365129.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:29.275Z,1761365129.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 40.944420 m,
      bearing: 331.676316 deg,
      approach rate: -0.480453 m/s,
      LOS rate: -0.166525 deg/s,
      cmd heading: 330.107796 deg,
      new cmd heading: 329.906464 deg.

2025-10-25T04:05:29.277Z,1761365129.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757954 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:29.419Z,1761365129.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278068
2025-10-25T04:05:29.619Z,1761365129.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879560,0.474017,-0.041003],[-0.475728,0.874818,-0.091525],[-0.007515,0.100008,0.994958]]
2025-10-25T04:05:29.651Z,1761365129.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.79 m.
2025-10-25T04:05:29.655Z,1761365129.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.794949 m,
      nav range: 40.775406 m,
      bearing: 331.616901 deg,
      approach rate: -0.444918 m/s,
      LOS rate: -0.157054 deg/s,
      cmd heading: 329.906470 deg,
      new cmd heading: 329.727487 deg.

2025-10-25T04:05:29.659Z,1761365129.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754830 target range: 42.794949 and range: 43.00 m.
2025-10-25T04:05:29.683Z,1761365129.683 [DAT](INFO): DAT read: 04:05:28.0833 LVL= 21440, 30897, 20018, 30195, AGC= 61, IDX= 411,-0.43,-1.997, 2.933,-2.182,-2.350, PHS= 0.441,-0.953, 0.166, RAW= 139.2,   5.5, CAL= 143.2,  -2.3, ROT=   6.8,   2.3

2025-10-25T04:05:29.685Z,1761365129.685 [DAT](INFO): got valid direction response:
 04:05:28.0833 LVL= 21440, 30897, 20018, 30195, AGC= 61, IDX= 411,-0.43,-1.997, 2.933,-2.182,-2.350, PHS= 0.441,-0.953, 0.166, RAW= 139.2,   5.5, CAL= 143.2,  -2.3, ROT=   6.8,   2.3

2025-10-25T04:05:29.685Z,1761365129.685 [DAT](INFO): DAT read: Bearing   6.8,   2.3 (Local)

2025-10-25T04:05:29.686Z,1761365129.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,   2.3 (Local)

2025-10-25T04:05:29.688Z,1761365129.688 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m  (Round-trip  54.5 ms) speed  0.4 m/s

2025-10-25T04:05:29.701Z,1761365129.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:29.703Z,1761365129.703 [DAT](INFO): direction in FSK: [0.992166,0.118309,-0.040132]
2025-10-25T04:05:29.704Z,1761365129.704 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:29.714Z,1761365129.714 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:29.714Z,1761365129.714 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:29.714Z,1761365129.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:29.925Z,1761365129.925 [DAT](INFO): DAT read: user:338>

2025-10-25T04:05:29.929Z,1761365129.929 [DAT](INFO): DAT read: Tx time:04:05:29.4247

2025-10-25T04:05:29.930Z,1761365129.930 [DAT](INFO): Ping request sent.
2025-10-25T04:05:29.930Z,1761365129.930 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:29.931Z,1761365129.931 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:29.937Z,1761365129.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002427
2025-10-25T04:05:30.025Z,1761365130.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880260,0.472656,-0.041698],[-0.474430,0.875327,-0.093378],[-0.007636,0.101980,0.994757]]
2025-10-25T04:05:30.118Z,1761365130.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 3.784372 s,
      deltaX: -2.200001 m,
      approachRate: -0.581338 m/s,
      rangeRepo size: 4

2025-10-25T04:05:30.127Z,1761365130.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.606483 m,
      bearing: 338.676375 deg,
      lat: 36.779459 deg,
      lon: -121.859749 deg,
      deltaT: 3.784372 s,
      deltaX: -2.188465 m,
      approachRate: -0.578290 m/s,
      posRepo size: 4

2025-10-25T04:05:30.133Z,1761365130.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:30.143Z,1761365130.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 40.592850 m,
      bearing: 331.534872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.157054 deg/s,
      cmd heading: 329.727491 deg,
      new cmd heading: 329.510180 deg.

2025-10-25T04:05:30.149Z,1761365130.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751038 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:30.174Z,1761365130.174 [DAT](INFO): DAT read: TxSync time:04:05:29.4239

2025-10-25T04:05:30.175Z,1761365130.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244718
2025-10-25T04:05:30.425Z,1761365130.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495518
2025-10-25T04:05:30.430Z,1761365130.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880652,0.471871,-0.042312],[-0.473704,0.875606,-0.094434],[-0.007512,0.103207,0.994632]]
2025-10-25T04:05:30.450Z,1761365130.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:30.453Z,1761365130.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 40.445301 m,
      bearing: 331.467833 deg,
      approach rate: -0.437386 m/s,
      LOS rate: -0.199452 deg/s,
      cmd heading: 329.510182 deg,
      new cmd heading: 329.308332 deg.

2025-10-25T04:05:30.453Z,1761365130.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747515 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:30.678Z,1761365130.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747847
2025-10-25T04:05:30.832Z,1761365130.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880133,0.472808,-0.042638],[-0.474693,0.875432,-0.091023],[-0.005710,0.100353,0.994936]]
2025-10-25T04:05:30.855Z,1761365130.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:30.882Z,1761365130.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 40.279236 m,
      bearing: 331.391991 deg,
      approach rate: -0.409715 m/s,
      LOS rate: -0.187887 deg/s,
      cmd heading: 329.308336 deg,
      new cmd heading: 329.079876 deg.

2025-10-25T04:05:30.891Z,1761365130.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743527 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:30.934Z,1761365130.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004163
2025-10-25T04:05:31.182Z,1761365131.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251975
2025-10-25T04:05:31.345Z,1761365131.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:31.348Z,1761365131.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:31.355Z,1761365131.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 40.085377 m,
      bearing: 331.300266 deg,
      approach rate: -0.393308 m/s,
      LOS rate: -0.186995 deg/s,
      cmd heading: 329.079880 deg,
      new cmd heading: 328.803376 deg.

2025-10-25T04:05:31.356Z,1761365131.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738701 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:31.435Z,1761365131.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504568
2025-10-25T04:05:31.648Z,1761365131.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881043,0.471141,-0.042298],[-0.473005,0.876439,-0.090111],[-0.005383,0.099399,0.995033]]
2025-10-25T04:05:31.670Z,1761365131.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:31.673Z,1761365131.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 39.944553 m,
      bearing: 331.232604 deg,
      approach rate: -0.437127 m/s,
      LOS rate: -0.210769 deg/s,
      cmd heading: 328.803367 deg,
      new cmd heading: 328.599666 deg.

2025-10-25T04:05:31.674Z,1761365131.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735146 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:31.686Z,1761365131.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755706
2025-10-25T04:05:31.940Z,1761365131.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009885
2025-10-25T04:05:32.046Z,1761365132.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881553,0.470337,-0.040589],[-0.472044,0.877082,-0.088888],[-0.006207,0.097519,0.995214]]
2025-10-25T04:05:32.104Z,1761365132.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:32.107Z,1761365132.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 39.760941 m,
      bearing: 331.161062 deg,
      approach rate: -0.423265 m/s,
      LOS rate: -0.165680 deg/s,
      cmd heading: 328.599663 deg,
      new cmd heading: 328.384048 deg.

2025-10-25T04:05:32.108Z,1761365132.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731383 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:32.191Z,1761365132.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260624
2025-10-25T04:05:32.442Z,1761365132.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511697
2025-10-25T04:05:32.451Z,1761365132.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881467,0.470638,-0.038934],[-0.472195,0.877167,-0.087236],[-0.006904,0.095280,0.995427]]
2025-10-25T04:05:32.502Z,1761365132.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:32.506Z,1761365132.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 39.603996 m,
      bearing: 331.099407 deg,
      approach rate: -0.394845 m/s,
      LOS rate: -0.155728 deg/s,
      cmd heading: 328.384048 deg,
      new cmd heading: 328.198351 deg.

2025-10-25T04:05:32.511Z,1761365132.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728142 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:32.693Z,1761365132.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763633
2025-10-25T04:05:32.854Z,1761365132.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881194,0.471254,-0.037632],[-0.472700,0.877086,-0.085299],[-0.007191,0.092954,0.995644]]
2025-10-25T04:05:32.873Z,1761365132.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:32.881Z,1761365132.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 39.436687 m,
      bearing: 331.033267 deg,
      approach rate: -0.449653 m/s,
      LOS rate: -0.178510 deg/s,
      cmd heading: 328.198349 deg,
      new cmd heading: 327.999087 deg.

2025-10-25T04:05:32.882Z,1761365132.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724664 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:32.949Z,1761365132.949 [DAT](INFO): DAT read: Rx Time:04:05:31.8811

2025-10-25T04:05:32.951Z,1761365132.951 [DAT](INFO): Rx dataTimestamp_ set to:1761365132.950161
2025-10-25T04:05:32.953Z,1761365132.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023242
2025-10-25T04:05:33.198Z,1761365133.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267709
2025-10-25T04:05:33.374Z,1761365133.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:33.376Z,1761365133.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.61 m.
2025-10-25T04:05:33.383Z,1761365133.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.606483 m,
      nav range: 39.212116 m,
      bearing: 330.976250 deg,
      approach rate: -0.446769 m/s,
      LOS rate: -0.114081 deg/s,
      cmd heading: 327.999098 deg,
      new cmd heading: 327.827069 deg.

2025-10-25T04:05:33.384Z,1761365133.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721662 target range: 40.606483 and range: 40.80 m.
2025-10-25T04:05:33.459Z,1761365133.459 [DAT](INFO): DAT read: 04:05:31.8811 LVL= 15216, 23793, 15938, 24803, AGC= 60, IDX= 420,-0.22, 1.309,-0.133, 1.179, 0.969, PHS= 0.427,-1.055, 0.207, RAW= 142.1,   6.1, CAL= 145.2,  -1.9, ROT=   4.8,   1.9

2025-10-25T04:05:33.462Z,1761365133.462 [DAT](INFO): got valid direction response:
 04:05:31.8811 LVL= 15216, 23793, 15938, 24803, AGC= 60, IDX= 420,-0.22, 1.309,-0.133, 1.179, 0.969, PHS= 0.427,-1.055, 0.207, RAW= 142.1,   6.1, CAL= 145.2,  -1.9, ROT=   4.8,   1.9

2025-10-25T04:05:33.463Z,1761365133.463 [DAT](INFO): DAT read: Bearing   4.8,   1.9 (Local)

2025-10-25T04:05:33.464Z,1761365133.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,   1.9 (Local)

2025-10-25T04:05:33.466Z,1761365133.466 [DAT](INFO): DAT read: Range 10 to 50 : 39.2 m  (Round-trip  52.3 ms) speed  0.4 m/s

2025-10-25T04:05:33.467Z,1761365133.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:33.467Z,1761365133.467 [DAT](INFO): direction in FSK: [0.995945,0.083632,-0.033155]
2025-10-25T04:05:33.468Z,1761365133.468 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:33.493Z,1761365133.493 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:33.493Z,1761365133.493 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:33.493Z,1761365133.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:05:33.703Z,1761365133.703 [DAT](INFO): DAT read: user:339>

2025-10-25T04:05:33.704Z,1761365133.704 [DAT](INFO): DAT read: Tx time:04:05:33.1747

2025-10-25T04:05:33.704Z,1761365133.704 [DAT](INFO): Ping request sent.
2025-10-25T04:05:33.704Z,1761365133.704 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:33.704Z,1761365133.704 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:33.705Z,1761365133.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000852
2025-10-25T04:05:33.777Z,1761365133.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 3.780730 s,
      deltaX: -1.599998 m,
      approachRate: -0.423198 m/s,
      rangeRepo size: 4

2025-10-25T04:05:33.789Z,1761365133.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.014019 m,
      bearing: 336.745894 deg,
      lat: 36.779468 deg,
      lon: -121.859730 deg,
      deltaT: 3.780730 s,
      deltaX: -1.592464 m,
      approachRate: -0.421206 m/s,
      posRepo size: 4

2025-10-25T04:05:33.789Z,1761365133.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:33.792Z,1761365133.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 39.148659 m,
      bearing: 333.787717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.114081 deg/s,
      cmd heading: 327.827060 deg,
      new cmd heading: 327.690263 deg.

2025-10-25T04:05:33.797Z,1761365133.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719274 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:33.958Z,1761365133.958 [DAT](INFO): DAT read: TxSync time:04:05:33.1739

2025-10-25T04:05:33.962Z,1761365133.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257313
2025-10-25T04:05:34.084Z,1761365134.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877630,0.477991,-0.035931],[-0.479280,0.873871,-0.081493],[-0.007554,0.088741,0.996026]]
2025-10-25T04:05:34.153Z,1761365134.153 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-10-25T04:05:34.154Z,1761365134.154 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-25T04:05:34.154Z,1761365134.154 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-10-25T04:05:34.155Z,1761365134.155 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.200001 m (mode  2.000000 count ).
2025-10-25T04:05:34.155Z,1761365134.155 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-10-25T04:05:34.156Z,1761365134.156 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-10-25T04:05:34.163Z,1761365134.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:34.175Z,1761365134.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 38.941216 m,
      bearing: 333.784616 deg,
      approach rate: -0.535389 m/s,
      LOS rate: -0.008046 deg/s,
      cmd heading: 327.690265 deg,
      new cmd heading: 327.680912 deg.

2025-10-25T04:05:34.176Z,1761365134.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719111 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:34.206Z,1761365134.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501471
2025-10-25T04:05:34.458Z,1761365134.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753341
2025-10-25T04:05:34.488Z,1761365134.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875247,0.482354,-0.035745],[-0.483625,0.871686,-0.079185],[-0.007037,0.086593,0.996219]]
2025-10-25T04:05:34.517Z,1761365134.517 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-10-25T04:05:34.517Z,1761365134.517 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-10-25T04:05:34.519Z,1761365134.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:34.523Z,1761365134.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 38.760845 m,
      bearing: 333.783246 deg,
      approach rate: -0.506234 m/s,
      LOS rate: -0.003862 deg/s,
      cmd heading: 327.680921 deg,
      new cmd heading: 327.676792 deg.

2025-10-25T04:05:34.524Z,1761365134.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719039 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:34.709Z,1761365134.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005303
2025-10-25T04:05:34.884Z,1761365134.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868146,0.494815,-0.038479],[-0.496280,0.864640,-0.078130],[-0.005389,0.086925,0.996200]]
2025-10-25T04:05:34.926Z,1761365134.926 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-10-25T04:05:34.927Z,1761365134.927 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-10-25T04:05:34.949Z,1761365134.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:34.966Z,1761365134.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261261
2025-10-25T04:05:34.971Z,1761365134.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 38.574562 m,
      bearing: 333.785830 deg,
      approach rate: -0.439953 m/s,
      LOS rate: 0.006131 deg/s,
      cmd heading: 327.676795 deg,
      new cmd heading: 327.684583 deg.

2025-10-25T04:05:34.980Z,1761365134.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719175 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:35.214Z,1761365135.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509619
2025-10-25T04:05:35.314Z,1761365135.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866349,0.498041,-0.037346],[-0.499403,0.862952,-0.076880],[-0.006062,0.085255,0.996341]]
2025-10-25T04:05:35.362Z,1761365135.362 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-10-25T04:05:35.362Z,1761365135.362 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-25T04:05:35.363Z,1761365135.363 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-10-25T04:05:35.363Z,1761365135.363 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-10-25T04:05:35.366Z,1761365135.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:35.368Z,1761365135.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 38.340778 m,
      bearing: 333.817560 deg,
      approach rate: -0.553240 m/s,
      LOS rate: 0.075546 deg/s,
      cmd heading: 327.684582 deg,
      new cmd heading: 327.780353 deg.

2025-10-25T04:05:35.369Z,1761365135.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720846 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:35.466Z,1761365135.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761644
2025-10-25T04:05:35.708Z,1761365135.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864393,0.501488,-0.036536],[-0.502775,0.861085,-0.075826],[-0.006565,0.083913,0.996451]]
2025-10-25T04:05:35.718Z,1761365135.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013710
2025-10-25T04:05:35.737Z,1761365135.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:35.739Z,1761365135.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:35.742Z,1761365135.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 38.152534 m,
      bearing: 333.844524 deg,
      approach rate: -0.503969 m/s,
      LOS rate: 0.072545 deg/s,
      cmd heading: 327.780341 deg,
      new cmd heading: 327.861633 deg.

2025-10-25T04:05:35.744Z,1761365135.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722265 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:35.974Z,1761365135.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269358
2025-10-25T04:05:36.109Z,1761365136.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862685,0.504382,-0.037056],[-0.505704,0.859406,-0.075398],[-0.006183,0.083784,0.996465]]
2025-10-25T04:05:36.165Z,1761365136.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:36.168Z,1761365136.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 37.925198 m,
      bearing: 333.895968 deg,
      approach rate: -0.533910 m/s,
      LOS rate: 0.121543 deg/s,
      cmd heading: 327.861620 deg,
      new cmd heading: 328.016878 deg.

2025-10-25T04:05:36.169Z,1761365136.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724975 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:36.223Z,1761365136.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518276
2025-10-25T04:05:36.473Z,1761365136.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769263
2025-10-25T04:05:36.518Z,1761365136.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861145,0.506936,-0.038022],[-0.508324,0.857783,-0.076263],[-0.006046,0.085000,0.996363]]
2025-10-25T04:05:36.542Z,1761365136.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:36.547Z,1761365136.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 37.727329 m,
      bearing: 333.942171 deg,
      approach rate: -0.524238 m/s,
      LOS rate: 0.123052 deg/s,
      cmd heading: 328.016884 deg,
      new cmd heading: 328.156219 deg.

2025-10-25T04:05:36.547Z,1761365136.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727407 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:36.726Z,1761365136.726 [DAT](INFO): DAT read: Rx Time:04:05:35.6291

2025-10-25T04:05:36.726Z,1761365136.726 [DAT](INFO): Rx dataTimestamp_ set to:1761365136.725817
2025-10-25T04:05:36.727Z,1761365136.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022465
2025-10-25T04:05:36.918Z,1761365136.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860193,0.508406,-0.039889],[-0.509936,0.856618,-0.078562],[-0.005772,0.087919,0.996111]]
2025-10-25T04:05:36.966Z,1761365136.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.01 m.
2025-10-25T04:05:36.981Z,1761365136.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275742
2025-10-25T04:05:36.993Z,1761365136.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.014019 m,
      nav range: 37.516335 m,
      bearing: 333.992555 deg,
      approach rate: -0.524690 m/s,
      LOS rate: 0.125998 deg/s,
      cmd heading: 328.156220 deg,
      new cmd heading: 328.308223 deg.

2025-10-25T04:05:37.002Z,1761365137.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730060 target range: 39.014019 and range: 39.20 m.
2025-10-25T04:05:37.235Z,1761365137.235 [DAT](INFO): DAT read: 04:05:35.6291 LVL= 17472, 29505, 17938, 29219, AGC= 62, IDX= 414,-0.33, 2.724, 1.328, 2.481, 2.369, PHS= 0.443,-0.994, 0.109, RAW= 137.1,   6.8, CAL= 141.5,  -0.3, ROT=   8.5,   0.3

2025-10-25T04:05:37.236Z,1761365137.236 [DAT](INFO): got valid direction response:
 04:05:35.6291 LVL= 17472, 29505, 17938, 29219, AGC= 62, IDX= 414,-0.33, 2.724, 1.328, 2.481, 2.369, PHS= 0.443,-0.994, 0.109, RAW= 137.1,   6.8, CAL= 141.5,  -0.3, ROT=   8.5,   0.3

2025-10-25T04:05:37.237Z,1761365137.237 [DAT](INFO): DAT read: Bearing   8.5,   0.3 (Local)

2025-10-25T04:05:37.238Z,1761365137.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,   0.3 (Local)

2025-10-25T04:05:37.239Z,1761365137.239 [DAT](INFO): DAT read: Range 10 to 50 : 37.5 m  (Round-trip  50.1 ms) speed  0.4 m/s

2025-10-25T04:05:37.240Z,1761365137.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:37.241Z,1761365137.241 [DAT](INFO): direction in FSK: [0.989002,0.147807,-0.005236]
2025-10-25T04:05:37.241Z,1761365137.241 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:37.249Z,1761365137.249 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:05:37.250Z,1761365137.250 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:05:37.250Z,1761365137.250 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:05:37.331Z,1761365137.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858940,0.510436,-0.040941],[-0.512048,0.855304,-0.079129],[-0.005373,0.088931,0.996023]]
2025-10-25T04:05:37.457Z,1761365137.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.779358 s,
      deltaX: -1.700001 m,
      approachRate: -0.449812 m/s,
      rangeRepo size: 4

2025-10-25T04:05:37.459Z,1761365137.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.321899 m,
      bearing: 337.692149 deg,
      lat: 36.779475 deg,
      lon: -121.859709 deg,
      deltaT: 3.779358 s,
      deltaX: -1.692120 m,
      approachRate: -0.447727 m/s,
      posRepo size: 4

2025-10-25T04:05:37.460Z,1761365137.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:37.468Z,1761365137.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 37.107353 m,
      bearing: 337.174363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.125998 deg/s,
      cmd heading: 328.308233 deg,
      new cmd heading: 328.498775 deg.

2025-10-25T04:05:37.473Z,1761365137.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733385 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:37.482Z,1761365137.482 [DAT](INFO): DAT read: user:340>

2025-10-25T04:05:37.482Z,1761365137.482 [DAT](INFO): DAT read: Tx time:04:05:36.9748

2025-10-25T04:05:37.483Z,1761365137.483 [DAT](INFO): Ping request sent.
2025-10-25T04:05:37.483Z,1761365137.483 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:05:37.483Z,1761365137.483 [DAT](INFO): publishing transmit ping time
2025-10-25T04:05:37.484Z,1761365137.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-10-25T04:05:37.734Z,1761365137.734 [DAT](INFO): DAT read: TxSync time:04:05:36.9740

2025-10-25T04:05:37.735Z,1761365137.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252380
2025-10-25T04:05:37.761Z,1761365137.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858022,0.511881,-0.042139],[-0.513589,0.854320,-0.079773],[-0.004834,0.090089,0.995922]]
2025-10-25T04:05:37.782Z,1761365137.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:37.784Z,1761365137.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:37.788Z,1761365137.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 36.919632 m,
      bearing: 337.242631 deg,
      approach rate: -0.559055 m/s,
      LOS rate: 0.204343 deg/s,
      cmd heading: 328.498768 deg,
      new cmd heading: 328.704612 deg.

2025-10-25T04:05:37.792Z,1761365137.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736978 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:37.988Z,1761365137.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504946
2025-10-25T04:05:38.200Z,1761365138.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:38.203Z,1761365138.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 36.702370 m,
      bearing: 337.328121 deg,
      approach rate: -0.522407 m/s,
      LOS rate: 0.206779 deg/s,
      cmd heading: 328.704602 deg,
      new cmd heading: 328.962591 deg.

2025-10-25T04:05:38.204Z,1761365138.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741480 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:38.238Z,1761365138.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754849
2025-10-25T04:05:38.489Z,1761365138.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006604
2025-10-25T04:05:38.550Z,1761365138.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856283,0.514806,-0.041888],[-0.516496,0.852920,-0.075884],[-0.003339,0.086613,0.996236]]
2025-10-25T04:05:38.570Z,1761365138.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:38.573Z,1761365138.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 36.509644 m,
      bearing: 337.405948 deg,
      approach rate: -0.520980 m/s,
      LOS rate: 0.211493 deg/s,
      cmd heading: 328.962592 deg,
      new cmd heading: 329.197304 deg.

2025-10-25T04:05:38.574Z,1761365138.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745577 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:38.742Z,1761365138.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889
2025-10-25T04:05:38.954Z,1761365138.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856279,0.514568,-0.044789],[-0.516507,0.852614,-0.079184],[-0.002558,0.090938,0.995853]]
2025-10-25T04:05:38.985Z,1761365138.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:38.997Z,1761365138.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514119
2025-10-25T04:05:39.025Z,1761365139.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 36.294022 m,
      bearing: 337.494007 deg,
      approach rate: -0.521728 m/s,
      LOS rate: 0.214338 deg/s,
      cmd heading: 329.197305 deg,
      new cmd heading: 329.463050 deg.

2025-10-25T04:05:39.030Z,1761365139.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750215 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:39.249Z,1761365139.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765575
2025-10-25T04:05:39.361Z,1761365139.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857389,0.512569,-0.046453],[-0.514662,0.853370,-0.082959],[-0.002881,0.095036,0.995470]]
2025-10-25T04:05:39.402Z,1761365139.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:39.425Z,1761365139.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 36.081333 m,
      bearing: 337.561523 deg,
      approach rate: -0.508362 m/s,
      LOS rate: 0.162324 deg/s,
      cmd heading: 329.463054 deg,
      new cmd heading: 329.666793 deg.

2025-10-25T04:05:39.426Z,1761365139.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753771 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:39.498Z,1761365139.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014748
2025-10-25T04:05:39.751Z,1761365139.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268000
2025-10-25T04:05:39.777Z,1761365139.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858157,0.511196,-0.047380],[-0.513380,0.853991,-0.084505],[-0.002736,0.096843,0.995296]]
2025-10-25T04:05:39.806Z,1761365139.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:39.808Z,1761365139.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.32 m.
2025-10-25T04:05:39.815Z,1761365139.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.321899 m,
      nav range: 35.880451 m,
      bearing: 337.625548 deg,
      approach rate: -0.494897 m/s,
      LOS rate: 0.158616 deg/s,
      cmd heading: 329.666785 deg,
      new cmd heading: 329.859935 deg.

2025-10-25T04:05:39.815Z,1761365139.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757142 target range: 37.321899 and range: 37.50 m.
2025-10-25T04:05:40.002Z,1761365140.002 [DAT](INFO): DAT read: Rx Time:04:05:39.1515 

2025-10-25T04:05:40.003Z,1761365140.003 [DAT](INFO): Rx dataTimestamp_ set to:1761365140.002395
2025-10-25T04:05:40.004Z,1761365140.004 [DAT](INFO): DAT read: Bearing  10.7,   1.7 (Local)

2025-10-25T04:05:40.004Z,1761365140.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.7,   1.7 (Local)

2025-10-25T04:05:40.010Z,1761365140.010 [DAT](INFO): DAT read: Range 10 to 50 :    35.7 m (trip time 23.8 ms) speed 0.4

2025-10-25T04:05:40.026Z,1761365140.026 [DAT](INFO): DAT read: 04:05:39.1515 LVL= 17232, 27185, 16002, 26947, AGC= 60, IDX= 419, 0.23,-0.199,-1.660,-0.537,-0.638, PHS= 0.527,-0.975, 0.098, RAW= 133.9,   5.3, CAL= 139.3,  -1.7, ROT=  10.7,   1.7

2025-10-25T04:05:40.032Z,1761365140.032 [DAT](INFO): got valid direction response:
 04:05:39.1515 LVL= 17232, 27185, 16002, 26947, AGC= 60, IDX= 419, 0.23,-0.199,-1.660,-0.537,-0.638, PHS= 0.527,-0.975, 0.098, RAW= 133.9,   5.3, CAL= 139.3,  -1.7, ROT=  10.7,   1.7

2025-10-25T04:05:40.034Z,1761365140.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:05:40.040Z,1761365140.040 [DAT](INFO): direction in FSK: [0.982180,0.185585,-0.029666]
2025-10-25T04:05:40.041Z,1761365140.041 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:40.104Z,1761365140.104 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.620873
2025-10-25T04:05:40.170Z,1761365140.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858759,0.510066,-0.048642],[-0.512374,0.854429,-0.086161],[-0.002386,0.098915,0.995093]]
2025-10-25T04:05:40.254Z,1761365140.254 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770793
2025-10-25T04:05:40.305Z,1761365140.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 2.772970 s,
      deltaX: -1.799999 m,
      approachRate: -0.649123 m/s,
      rangeRepo size: 4

2025-10-25T04:05:40.308Z,1761365140.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.530228 m,
      bearing: 339.992093 deg,
      lat: 36.779478 deg,
      lon: -121.859706 deg,
      deltaT: 2.772970 s,
      deltaX: -1.791672 m,
      approachRate: -0.646120 m/s,
      posRepo size: 4

2025-10-25T04:05:40.313Z,1761365140.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.53 m.
2025-10-25T04:05:40.316Z,1761365140.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.530228 m,
      nav range: 35.871853 m,
      bearing: 338.216245 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158616 deg/s,
      cmd heading: 329.859942 deg,
      new cmd heading: 330.093816 deg.

2025-10-25T04:05:40.321Z,1761365140.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761224 target range: 35.530228 and range: 35.70 m.
2025-10-25T04:05:40.506Z,1761365140.506 [DAT](INFO): DAT read: Rx Time:04:05:39.6512 

2025-10-25T04:05:40.507Z,1761365140.507 [DAT](INFO): Rx dataTimestamp_ set to:1761365140.506471
2025-10-25T04:05:40.508Z,1761365140.508 [DAT](INFO): DAT read: Bearing  12.4,  -0.7 (Local)

2025-10-25T04:05:40.509Z,1761365140.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4,  -0.7 (Local)

2025-10-25T04:05:40.511Z,1761365140.511 [DAT](INFO): DAT read: Range 10 to 50 :    35.3 m (trip time 23.5 ms) speed 0.4

2025-10-25T04:05:40.517Z,1761365140.517 [DAT](INFO): DAT read: 04:05:39.6512 LVL= 22688, 32753, 21762, 32755, AGC= 59, IDX= 497,-0.36, 1.845, 0.503, 1.491, 1.460, PHS= 0.473,-0.910, 0.028, RAW= 131.6,   6.8, CAL= 137.6,   0.7, ROT=  12.4,  -0.7

2025-10-25T04:05:40.518Z,1761365140.518 [DAT](INFO): got valid direction response:
 04:05:39.6512 LVL= 22688, 32753, 21762, 32755, AGC= 59, IDX= 497,-0.36, 1.845, 0.503, 1.491, 1.460, PHS= 0.473,-0.910, 0.028, RAW= 131.6,   6.8, CAL= 137.6,   0.7, ROT=  12.4,  -0.7

2025-10-25T04:05:40.518Z,1761365140.518 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-25T04:05:40.519Z,1761365140.519 [DAT](INFO): direction in FSK: [0.976599,0.214719,0.012217]
2025-10-25T04:05:40.519Z,1761365140.519 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:40.523Z,1761365140.523 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.040301
2025-10-25T04:05:40.621Z,1761365140.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859419,0.508836,-0.049841],[-0.511267,0.854924,-0.087808],[-0.002070,0.100946,0.994890]]
2025-10-25T04:05:40.684Z,1761365140.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.299999 m,
      deltaT: 0.504076 s,
      deltaX: -0.400002 m,
      approachRate: -0.793534 m/s,
      rangeRepo size: 4

2025-10-25T04:05:40.686Z,1761365140.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.132130 m,
      bearing: 341.520354 deg,
      lat: 36.779478 deg,
      lon: -121.859697 deg,
      deltaT: 0.504076 s,
      deltaX: -0.398098 m,
      approachRate: -0.789758 m/s,
      posRepo size: 4

2025-10-25T04:05:40.687Z,1761365140.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.13 m.
2025-10-25T04:05:40.694Z,1761365140.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.132130 m,
      nav range: 35.461792 m,
      bearing: 339.489614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158616 deg/s,
      cmd heading: 330.093808 deg,
      new cmd heading: 330.276589 deg.

2025-10-25T04:05:40.696Z,1761365140.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764414 target range: 35.132130 and range: 35.30 m.
2025-10-25T04:05:40.758Z,1761365140.758 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275473
2025-10-25T04:05:41.010Z,1761365141.010 [DAT](INFO): DAT read: Rx Time:04:05:40.1511 

2025-10-25T04:05:41.011Z,1761365141.011 [DAT](INFO): Rx dataTimestamp_ set to:1761365141.010227
2025-10-25T04:05:41.014Z,1761365141.014 [DAT](INFO): DAT read: Bearing   8.7,  -4.2 (Local)

2025-10-25T04:05:41.015Z,1761365141.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  -4.2 (Local)

2025-10-25T04:05:41.021Z,1761365141.021 [DAT](INFO): DAT read: Range 10 to 50 :    35.1 m (trip time 23.4 ms) speed 0.4

2025-10-25T04:05:41.046Z,1761365141.046 [DAT](INFO): DAT read: 04:05:40.1511 LVL= 18768, 29681, 18914, 32083, AGC= 60, IDX= 512, 0.02,-2.993, 1.655, 2.997, 2.961, PHS= 0.417,-1.259, 0.033, RAW= 137.4,  10.7, CAL= 141.3,   4.2, ROT=   8.7,  -4.2

2025-10-25T04:05:41.071Z,1761365141.071 [DAT](INFO): got valid direction response:
 04:05:40.1511 LVL= 18768, 29681, 18914, 32083, AGC= 60, IDX= 512, 0.02,-2.993, 1.655, 2.997, 2.961, PHS= 0.417,-1.259, 0.033, RAW= 137.4,  10.7, CAL= 141.3,   4.2, ROT=   8.7,  -4.2

2025-10-25T04:05:41.072Z,1761365141.072 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-25T04:05:41.085Z,1761365141.085 [DAT](INFO): direction in FSK: [0.985839,0.150855,0.073238]
2025-10-25T04:05:41.086Z,1761365141.086 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:41.097Z,1761365141.097 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.614656
2025-10-25T04:05:41.092Z,1761365141.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860165,0.507354,-0.052044],[-0.510015,0.855422,-0.090213],[-0.001250,0.104141,0.994562]]
2025-10-25T04:05:41.201Z,1761365141.201 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:05:41.223Z,1761365141.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.099998 m,
      deltaT: 0.503756 s,
      deltaX: -0.200001 m,
      approachRate: -0.397019 m/s,
      rangeRepo size: 4

2025-10-25T04:05:41.230Z,1761365141.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.933239 m,
      bearing: 337.553912 deg,
      lat: 36.779478 deg,
      lon: -121.859706 deg,
      deltaT: 0.503756 s,
      deltaX: -0.198891 m,
      approachRate: -0.394816 m/s,
      posRepo size: 4

2025-10-25T04:05:41.231Z,1761365141.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.93 m.
2025-10-25T04:05:41.237Z,1761365141.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.933239 m,
      nav range: 35.425594 m,
      bearing: 338.307419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158616 deg/s,
      cmd heading: 330.276584 deg,
      new cmd heading: 330.533089 deg.

2025-10-25T04:05:41.238Z,1761365141.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768891 target range: 34.933239 and range: 35.10 m.
2025-10-25T04:05:41.263Z,1761365141.263 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779851
2025-10-25T04:05:41.510Z,1761365141.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861201,0.505393,-0.053951],[-0.508265,0.856256,-0.092155],[-0.000378,0.106785,0.994282]]
2025-10-25T04:05:41.514Z,1761365141.514 [DAT](INFO): DAT read: Rx Time:04:05:40.6509 

2025-10-25T04:05:41.515Z,1761365141.515 [DAT](INFO): Rx dataTimestamp_ set to:1761365141.514409
2025-10-25T04:05:41.516Z,1761365141.516 [DAT](INFO): DAT read: Bearing  11.6,   0.6 (Local)

2025-10-25T04:05:41.517Z,1761365141.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.6,   0.6 (Local)

2025-10-25T04:05:41.519Z,1761365141.519 [DAT](INFO): DAT read: Range 10 to 50 :    34.8 m (trip time 23.2 ms) speed 0.4

2025-10-25T04:05:41.523Z,1761365141.523 [DAT](INFO): DAT read: 04:05:40.6509 LVL= 20976, 32369, 21074, 32179, AGC= 61, IDX= 509, 0.42, 1.559, 0.152, 1.208, 1.142, PHS= 0.505,-0.944, 0.063, RAW= 132.7,   5.9, CAL= 138.4,  -0.6, ROT=  11.6,   0.6

2025-10-25T04:05:41.525Z,1761365141.525 [DAT](INFO): got valid direction response:
 04:05:40.6509 LVL= 20976, 32369, 21074, 32179, AGC= 61, IDX= 509, 0.42, 1.559, 0.152, 1.208, 1.142, PHS= 0.505,-0.944, 0.063, RAW= 132.7,   5.9, CAL= 138.4,  -0.6, ROT=  11.6,   0.6

2025-10-25T04:05:41.525Z,1761365141.525 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-25T04:05:41.526Z,1761365141.526 [DAT](INFO): direction in FSK: [0.979522,0.201067,-0.010472]
2025-10-25T04:05:41.526Z,1761365141.526 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:41.531Z,1761365141.531 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048450
2025-10-25T04:05:41.575Z,1761365141.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 0.504182 s,
      deltaX: -0.299999 m,
      approachRate: -0.595022 m/s,
      rangeRepo size: 4

2025-10-25T04:05:41.581Z,1761365141.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.634666 m,
      bearing: 341.049878 deg,
      lat: 36.779478 deg,
      lon: -121.859693 deg,
      deltaT: 0.504182 s,
      deltaX: -0.298573 m,
      approachRate: -0.592192 m/s,
      posRepo size: 4

2025-10-25T04:05:41.582Z,1761365141.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m.
2025-10-25T04:05:41.591Z,1761365141.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.634666 m,
      nav range: 34.841965 m,
      bearing: 340.103507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158616 deg/s,
      cmd heading: 330.533099 deg,
      new cmd heading: 330.700637 deg.

2025-10-25T04:05:41.592Z,1761365141.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771815 target range: 34.634666 and range: 34.80 m.
2025-10-25T04:05:41.766Z,1761365141.766 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283241
2025-10-25T04:05:41.938Z,1761365141.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862573,0.502893,-0.055380],[-0.505933,0.857578,-0.092696],[0.000876,0.107976,0.994153]]
2025-10-25T04:05:41.957Z,1761365141.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:41.959Z,1761365141.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m.
2025-10-25T04:05:41.989Z,1761365141.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.634666 m,
      nav range: 34.653656 m,
      bearing: 340.143563 deg,
      approach rate: -0.489659 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 330.700629 deg,
      new cmd heading: 330.821451 deg.

2025-10-25T04:05:41.990Z,1761365141.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773923 target range: 34.634666 and range: 34.80 m.
2025-10-25T04:05:42.018Z,1761365142.018 [DAT](INFO): DAT read: Rx Time:04:05:41.1508 

2025-10-25T04:05:42.019Z,1761365142.019 [DAT](INFO): Rx dataTimestamp_ set to:1761365142.018495
2025-10-25T04:05:42.020Z,1761365142.020 [DAT](INFO): DAT read: Bearing  11.5,  -0.3 (Local)

2025-10-25T04:05:42.020Z,1761365142.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  -0.3 (Local)

2025-10-25T04:05:42.023Z,1761365142.023 [DAT](INFO): DAT read: Range 10 to 50 :    34.7 m (trip time 23.1 ms) speed 0.4

2025-10-25T04:05:42.031Z,1761365142.031 [DAT](INFO): DAT read: 04:05:41.1508 LVL= 17760, 29217, 18082, 27843, AGC= 60, IDX= 509,-0.12, 0.995,-0.385, 0.656, 0.605, PHS= 0.478,-0.943, 0.048, RAW= 132.8,   6.7, CAL= 138.5,   0.3, ROT=  11.5,  -0.3

2025-10-25T04:05:42.058Z,1761365142.058 [DAT](INFO): got valid direction response:
 04:05:41.1508 LVL= 17760, 29217, 18082, 27843, AGC= 60, IDX= 509,-0.12, 0.995,-0.385, 0.656, 0.605, PHS= 0.478,-0.943, 0.048, RAW= 132.8,   6.7, CAL= 138.5,   0.3, ROT=  11.5,  -0.3

2025-10-25T04:05:42.059Z,1761365142.059 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-25T04:05:42.075Z,1761365142.075 [DAT](INFO): direction in FSK: [0.979911,0.199365,0.005236]
2025-10-25T04:05:42.076Z,1761365142.076 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:42.118Z,1761365142.118 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.635134
2025-10-25T04:05:42.205Z,1761365142.205 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:05:42.271Z,1761365142.271 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787817
2025-10-25T04:05:42.330Z,1761365142.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863937,0.500421,-0.056493],[-0.503596,0.858910,-0.093082],[0.001942,0.108867,0.994054]]
2025-10-25T04:05:42.457Z,1761365142.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.700001 m,
      deltaT: 0.504086 s,
      deltaX: -0.099998 m,
      approachRate: -0.198376 m/s,
      rangeRepo size: 4

2025-10-25T04:05:42.459Z,1761365142.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.535126 m,
      bearing: 341.163794 deg,
      lat: 36.779478 deg,
      lon: -121.859687 deg,
      deltaT: 0.504086 s,
      deltaX: -0.099541 m,
      approachRate: -0.197468 m/s,
      posRepo size: 4

2025-10-25T04:05:42.460Z,1761365142.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.54 m.
2025-10-25T04:05:42.480Z,1761365142.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.535126 m,
      nav range: 34.317089 m,
      bearing: 341.047811 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 330.821442 deg,
      new cmd heading: 330.977611 deg.

2025-10-25T04:05:42.486Z,1761365142.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776649 target range: 34.535126 and range: 34.70 m.
2025-10-25T04:05:42.524Z,1761365142.524 [DAT](INFO): DAT read: Rx Time:04:05:41.6506 

2025-10-25T04:05:42.525Z,1761365142.525 [DAT](INFO): Rx dataTimestamp_ set to:1761365142.525010
2025-10-25T04:05:42.527Z,1761365142.527 [DAT](INFO): DAT read: Bearing   9.7,   1.4 (Local)

2025-10-25T04:05:42.528Z,1761365142.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,   1.4 (Local)

2025-10-25T04:05:42.532Z,1761365142.532 [DAT](INFO): DAT read: Range 10 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-10-25T04:05:42.541Z,1761365142.541 [DAT](INFO): DAT read: 04:05:41.6506 LVL= 20288, 27793, 19746, 30067, AGC= 62, IDX= 506, 0.25, 2.004, 0.550, 1.704, 1.591, PHS= 0.502,-0.994, 0.110, RAW= 135.4,   5.7, CAL= 140.3,  -1.4, ROT=   9.7,   1.4

2025-10-25T04:05:42.543Z,1761365142.543 [DAT](INFO): got valid direction response:
 04:05:41.6506 LVL= 20288, 27793, 19746, 30067, AGC= 62, IDX= 506, 0.25, 2.004, 0.550, 1.704, 1.591, PHS= 0.502,-0.994, 0.110, RAW= 135.4,   5.7, CAL= 140.3,  -1.4, ROT=   9.7,   1.4

2025-10-25T04:05:42.544Z,1761365142.544 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-25T04:05:42.546Z,1761365142.546 [DAT](INFO): direction in FSK: [0.985409,0.168439,-0.024432]
2025-10-25T04:05:42.546Z,1761365142.546 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:42.575Z,1761365142.575 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.091746
2025-10-25T04:05:42.776Z,1761365142.776 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.292696
2025-10-25T04:05:42.819Z,1761365142.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867292,0.494239,-0.059438],[-0.497780,0.862128,-0.094601],[0.004488,0.111634,0.993739]]
2025-10-25T04:05:42.874Z,1761365142.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.506515 s,
      deltaX: -0.299999 m,
      approachRate: -0.592281 m/s,
      rangeRepo size: 4

2025-10-25T04:05:42.881Z,1761365142.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.236549 m,
      bearing: 339.940862 deg,
      lat: 36.779478 deg,
      lon: -121.859687 deg,
      deltaT: 0.506515 s,
      deltaX: -0.298576 m,
      approachRate: -0.589472 m/s,
      posRepo size: 4

2025-10-25T04:05:42.884Z,1761365142.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.24 m.
2025-10-25T04:05:42.906Z,1761365142.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.236549 m,
      nav range: 34.058678 m,
      bearing: 341.020346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 330.977607 deg,
      new cmd heading: 331.108837 deg.

2025-10-25T04:05:42.916Z,1761365142.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778939 target range: 34.236549 and range: 34.40 m.
2025-10-25T04:05:43.031Z,1761365143.031 [DAT](INFO): DAT read: Rx Time:04:05:42.1504 

2025-10-25T04:05:43.031Z,1761365143.031 [DAT](INFO): Rx dataTimestamp_ set to:1761365143.030851
2025-10-25T04:05:43.033Z,1761365143.033 [DAT](INFO): DAT read: Bearing   9.9,   0.9 (Local)

2025-10-25T04:05:43.033Z,1761365143.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.9,   0.9 (Local)

2025-10-25T04:05:43.035Z,1761365143.035 [DAT](INFO): DAT read: Range 10 to 50 :    34.1 m (trip time 22.7 ms) speed 0.4

2025-10-25T04:05:43.040Z,1761365143.040 [DAT](INFO): DAT read: 04:05:42.1504 LVL= 18704, 28657, 17570, 30691, AGC= 58, IDX= 505,-0.32, 1.443, 0.067, 1.157, 1.059, PHS= 0.471,-0.945, 0.094, RAW= 135.1,   6.0, CAL= 140.1,  -0.9, ROT=   9.9,   0.9

2025-10-25T04:05:43.041Z,1761365143.041 [DAT](INFO): got valid direction response:
 04:05:42.1504 LVL= 18704, 28657, 17570, 30691, AGC= 58, IDX= 505,-0.32, 1.443, 0.067, 1.157, 1.059, PHS= 0.471,-0.945, 0.094, RAW= 135.1,   6.0, CAL= 140.1,  -0.9, ROT=   9.9,   0.9

2025-10-25T04:05:43.042Z,1761365143.042 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-25T04:05:43.042Z,1761365143.042 [DAT](INFO): direction in FSK: [0.984988,0.171908,-0.015707]
2025-10-25T04:05:43.043Z,1761365143.043 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:43.092Z,1761365143.092 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.608602
2025-10-25T04:05:43.266Z,1761365143.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869389,0.490428,-0.060364],[-0.494096,0.864220,-0.094830],[0.005661,0.112270,0.993662]]
2025-10-25T04:05:43.279Z,1761365143.279 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795905
2025-10-25T04:05:43.420Z,1761365143.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 0.505841 s,
      deltaX: -0.300003 m,
      approachRate: -0.593078 m/s,
      rangeRepo size: 4

2025-10-25T04:05:43.441Z,1761365143.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.938015 m,
      bearing: 340.327863 deg,
      lat: 36.779477 deg,
      lon: -121.859692 deg,
      deltaT: 0.505841 s,
      deltaX: -0.298534 m,
      approachRate: -0.590174 m/s,
      posRepo size: 4

2025-10-25T04:05:43.442Z,1761365143.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.94 m.
2025-10-25T04:05:43.449Z,1761365143.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.938015 m,
      nav range: 33.936550 m,
      bearing: 340.327935 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.108829 deg,
      new cmd heading: 331.277986 deg.

2025-10-25T04:05:43.450Z,1761365143.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781892 target range: 33.938015 and range: 34.10 m.
2025-10-25T04:05:43.531Z,1761365143.531 [DAT](INFO): DAT read: Rx Time:04:05:42.6501 

2025-10-25T04:05:43.532Z,1761365143.532 [DAT](INFO): Rx dataTimestamp_ set to:1761365143.531559
2025-10-25T04:05:43.533Z,1761365143.533 [DAT](INFO): DAT read: Bearing   8.0,   2.7 (Local)

2025-10-25T04:05:43.534Z,1761365143.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.0,   2.7 (Local)

2025-10-25T04:05:43.536Z,1761365143.536 [DAT](INFO): DAT read: Range 10 to 50 :    33.6 m (trip time 22.4 ms) speed 0.4

2025-10-25T04:05:43.541Z,1761365143.541 [DAT](INFO): DAT read: 04:05:42.6501 LVL= 17952, 29137, 18354, 27635, AGC= 59, IDX= 502, 0.03, 1.946, 0.501, 1.700, 1.537, PHS= 0.497,-0.989, 0.160, RAW= 137.5,   5.0, CAL= 142.0,  -2.7, ROT=   8.0,   2.7

2025-10-25T04:05:43.542Z,1761365143.542 [DAT](INFO): got valid direction response:
 04:05:42.6501 LVL= 17952, 29137, 18354, 27635, AGC= 59, IDX= 502, 0.03, 1.946, 0.501, 1.700, 1.537, PHS= 0.497,-0.989, 0.160, RAW= 137.5,   5.0, CAL= 142.0,  -2.7, ROT=   8.0,   2.7

2025-10-25T04:05:43.543Z,1761365143.543 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-25T04:05:43.544Z,1761365143.544 [DAT](INFO): direction in FSK: [0.989169,0.139019,-0.047106]
2025-10-25T04:05:43.544Z,1761365143.544 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:43.549Z,1761365143.549 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066313
2025-10-25T04:05:43.729Z,1761365143.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871277,0.486895,-0.061721],[-0.490744,0.866018,-0.095831],[0.006792,0.113785,0.993482]]
2025-10-25T04:05:43.767Z,1761365143.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.500708 s,
      deltaX: -0.500000 m,
      approachRate: -0.998586 m/s,
      rangeRepo size: 4

2025-10-25T04:05:43.773Z,1761365143.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.440392 m,
      bearing: 338.861234 deg,
      lat: 36.779477 deg,
      lon: -121.859692 deg,
      deltaT: 0.500708 s,
      deltaX: -0.497623 m,
      approachRate: -0.993840 m/s,
      posRepo size: 4

2025-10-25T04:05:43.774Z,1761365143.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-10-25T04:05:43.782Z,1761365143.782 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298928
2025-10-25T04:05:43.793Z,1761365143.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.440392 m,
      nav range: 33.762798 m,
      bearing: 340.320124 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.277999 deg,
      new cmd heading: 331.389334 deg.

2025-10-25T04:05:43.794Z,1761365143.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783835 target range: 33.440392 and range: 33.60 m.
2025-10-25T04:05:44.036Z,1761365144.036 [DAT](INFO): DAT read: Rx Time:04:05:43.1501 

2025-10-25T04:05:44.036Z,1761365144.036 [DAT](INFO): Rx dataTimestamp_ set to:1761365144.035826
2025-10-25T04:05:44.038Z,1761365144.038 [DAT](INFO): DAT read: Bearing   7.2,   3.7 (Local)

2025-10-25T04:05:44.039Z,1761365144.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2,   3.7 (Local)

2025-10-25T04:05:44.042Z,1761365144.042 [DAT](INFO): DAT read: Range 10 to 50 :    33.6 m (trip time 22.4 ms) speed 0.4

2025-10-25T04:05:44.047Z,1761365144.047 [DAT](INFO): DAT read: 04:05:43.1501 LVL= 18144, 29681, 18594, 30419, AGC= 58, IDX= 501, 0.41,-2.244, 2.603,-2.462,-2.658, PHS= 0.502,-0.976, 0.192, RAW= 138.6,   4.2, CAL= 142.8,  -3.7, ROT=   7.2,   3.7

2025-10-25T04:05:44.063Z,1761365144.063 [DAT](INFO): got valid direction response:
 04:05:43.1501 LVL= 18144, 29681, 18594, 30419, AGC= 58, IDX= 501, 0.41,-2.244, 2.603,-2.462,-2.658, PHS= 0.502,-0.976, 0.192, RAW= 138.6,   4.2, CAL= 142.8,  -3.7, ROT=   7.2,   3.7

2025-10-25T04:05:44.064Z,1761365144.064 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-25T04:05:44.067Z,1761365144.067 [DAT](INFO): direction in FSK: [0.990047,0.125072,-0.064532]
2025-10-25T04:05:44.067Z,1761365144.067 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:44.108Z,1761365144.108 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.624898
2025-10-25T04:05:44.183Z,1761365144.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873073,0.483487,-0.063113],[-0.487523,0.867744,-0.096654],[0.008035,0.115155,0.993315]]
2025-10-25T04:05:44.286Z,1761365144.286 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803392
2025-10-25T04:05:44.313Z,1761365144.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.599998 m,
      deltaT: 0.504267 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:05:44.315Z,1761365144.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.440521 m,
      bearing: 338.393883 deg,
      lat: 36.779477 deg,
      lon: -121.859695 deg,
      deltaT: 0.504267 s,
      deltaX: 0.000130 m,
      approachRate: 0.000257 m/s,
      posRepo size: 4

2025-10-25T04:05:44.316Z,1761365144.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.44 m.
2025-10-25T04:05:44.334Z,1761365144.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.440521 m,
      nav range: 33.612156 m,
      bearing: 339.891044 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.389331 deg,
      new cmd heading: 331.556839 deg.

2025-10-25T04:05:44.335Z,1761365144.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786758 target range: 33.440521 and range: 33.60 m.
2025-10-25T04:05:44.538Z,1761365144.538 [DAT](INFO): DAT read: Rx Time:04:05:43.6499 

2025-10-25T04:05:44.539Z,1761365144.539 [DAT](INFO): Rx dataTimestamp_ set to:1761365144.538304
2025-10-25T04:05:44.540Z,1761365144.540 [DAT](INFO): DAT read: Bearing   6.7,   2.7 (Local)

2025-10-25T04:05:44.540Z,1761365144.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,   2.7 (Local)

2025-10-25T04:05:44.543Z,1761365144.543 [DAT](INFO): DAT read: Range 10 to 50 :    33.2 m (trip time 22.1 ms) speed 0.4

2025-10-25T04:05:44.550Z,1761365144.550 [DAT](INFO): DAT read: 04:05:43.6499 LVL= 18144, 26145, 17874, 27123, AGC= 57, IDX= 499,-0.03, 1.499, 0.096, 1.307, 1.123, PHS= 0.463,-0.980, 0.181, RAW= 139.4,   5.1, CAL= 143.3,  -2.7, ROT=   6.7,   2.7

2025-10-25T04:05:44.551Z,1761365144.551 [DAT](INFO): got valid direction response:
 04:05:43.6499 LVL= 18144, 26145, 17874, 27123, AGC= 57, IDX= 499,-0.03, 1.499, 0.096, 1.307, 1.123, PHS= 0.463,-0.980, 0.181, RAW= 139.4,   5.1, CAL= 143.3,  -2.7, ROT=   6.7,   2.7

2025-10-25T04:05:44.551Z,1761365144.551 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-25T04:05:44.552Z,1761365144.552 [DAT](INFO): direction in FSK: [0.992068,0.116541,-0.047106]
2025-10-25T04:05:44.553Z,1761365144.553 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:44.556Z,1761365144.556 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.073423
2025-10-25T04:05:44.606Z,1761365144.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875201,0.479489,-0.064140],[-0.483671,0.869854,-0.097038],[0.009264,0.115950,0.993212]]
2025-10-25T04:05:44.766Z,1761365144.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.200001 m,
      deltaT: 0.502478 s,
      deltaX: -0.399998 m,
      approachRate: -0.796050 m/s,
      rangeRepo size: 4

2025-10-25T04:05:44.776Z,1761365144.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.042423 m,
      bearing: 338.037597 deg,
      lat: 36.779473 deg,
      lon: -121.859700 deg,
      deltaT: 0.502478 s,
      deltaX: -0.398098 m,
      approachRate: -0.792269 m/s,
      posRepo size: 4

2025-10-25T04:05:44.790Z,1761365144.790 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307069
2025-10-25T04:05:44.792Z,1761365144.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.04 m.
2025-10-25T04:05:44.818Z,1761365144.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.042423 m,
      nav range: 33.108852 m,
      bearing: 338.853640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.556835 deg,
      new cmd heading: 331.694108 deg.

2025-10-25T04:05:44.819Z,1761365144.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789155 target range: 33.042423 and range: 33.20 m.
2025-10-25T04:05:45.042Z,1761365145.042 [DAT](INFO): DAT read: Rx Time:04:05:44.1500 

2025-10-25T04:05:45.043Z,1761365145.043 [DAT](INFO): Rx dataTimestamp_ set to:1761365145.042587
2025-10-25T04:05:45.045Z,1761365145.045 [DAT](INFO): DAT read: Bearing   4.7,   4.6 (Local)

2025-10-25T04:05:45.046Z,1761365145.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,   4.6 (Local)

2025-10-25T04:05:45.048Z,1761365145.048 [DAT](INFO): DAT read: Range 10 to 50 :    33.3 m (trip time 22.2 ms) speed 0.4

2025-10-25T04:05:45.053Z,1761365145.053 [DAT](INFO): DAT read: 04:05:44.1500 LVL= 16784, 25745, 17906, 27875, AGC= 59, IDX= 498, 0.41,-1.912, 2.923,-2.056,-2.314, PHS= 0.489,-0.999, 0.255, RAW= 141.6,   3.7, CAL= 145.3,  -4.6, ROT=   4.7,   4.6

2025-10-25T04:05:45.054Z,1761365145.054 [DAT](INFO): got valid direction response:
 04:05:44.1500 LVL= 16784, 25745, 17906, 27875, AGC= 59, IDX= 498, 0.41,-1.912, 2.923,-2.056,-2.314, PHS= 0.489,-0.999, 0.255, RAW= 141.6,   3.7, CAL= 145.3,  -4.6, ROT=   4.7,   4.6

2025-10-25T04:05:45.054Z,1761365145.054 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-25T04:05:45.057Z,1761365145.057 [DAT](INFO): direction in FSK: [0.993427,0.081675,-0.080199]
2025-10-25T04:05:45.058Z,1761365145.058 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:45.065Z,1761365145.065 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.582423
2025-10-25T04:05:45.295Z,1761365145.295 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812034
2025-10-25T04:05:45.343Z,1761365145.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 0.504283 s,
      deltaX: 0.099998 m,
      approachRate: 0.198298 m/s,
      rangeRepo size: 4

2025-10-25T04:05:45.359Z,1761365145.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.141937 m,
      bearing: 336.270854 deg,
      lat: 36.779472 deg,
      lon: -121.859703 deg,
      deltaT: 0.504283 s,
      deltaX: 0.099514 m,
      approachRate: 0.197338 m/s,
      posRepo size: 4

2025-10-25T04:05:45.359Z,1761365145.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.14 m.
2025-10-25T04:05:45.388Z,1761365145.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.141937 m,
      nav range: 32.866367 m,
      bearing: 338.239227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.694121 deg,
      new cmd heading: 331.884490 deg.

2025-10-25T04:05:45.401Z,1761365145.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792477 target range: 33.141937 and range: 33.30 m.
2025-10-25T04:05:45.547Z,1761365145.547 [DAT](INFO): DAT read: Rx Time:04:05:44.6497 

2025-10-25T04:05:45.547Z,1761365145.547 [DAT](INFO): Rx dataTimestamp_ set to:1761365145.547184
2025-10-25T04:05:45.549Z,1761365145.549 [DAT](INFO): DAT read: Bearing   4.6,   3.8 (Local)

2025-10-25T04:05:45.550Z,1761365145.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,   3.8 (Local)

2025-10-25T04:05:45.552Z,1761365145.552 [DAT](INFO): DAT read: Range 10 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-10-25T04:05:45.557Z,1761365145.557 [DAT](INFO): DAT read: 04:05:44.6497 LVL= 16880, 28641, 18770, 30531, AGC= 58, IDX= 496, 0.02, 2.294, 0.895, 2.167, 1.927, PHS= 0.454,-0.985, 0.236, RAW= 141.9,   4.4, CAL= 145.4,  -3.8, ROT=   4.6,   3.8

2025-10-25T04:05:45.558Z,1761365145.558 [DAT](INFO): got valid direction response:
 04:05:44.6497 LVL= 16880, 28641, 18770, 30531, AGC= 58, IDX= 496, 0.02, 2.294, 0.895, 2.167, 1.927, PHS= 0.454,-0.985, 0.236, RAW= 141.9,   4.4, CAL= 145.4,  -3.8, ROT=   4.6,   3.8

2025-10-25T04:05:45.558Z,1761365145.558 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-25T04:05:45.559Z,1761365145.559 [DAT](INFO): direction in FSK: [0.994587,0.080023,-0.066274]
2025-10-25T04:05:45.559Z,1761365145.559 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:45.564Z,1761365145.564 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081276
2025-10-25T04:05:45.679Z,1761365145.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880957,0.468534,-0.066270],[-0.473035,0.875644,-0.097399],[0.012395,0.117152,0.993037]]
2025-10-25T04:05:45.731Z,1761365145.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.504597 s,
      deltaX: -0.399998 m,
      approachRate: -0.792707 m/s,
      rangeRepo size: 4

2025-10-25T04:05:45.735Z,1761365145.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.743835 m,
      bearing: 336.775683 deg,
      lat: 36.779470 deg,
      lon: -121.859704 deg,
      deltaT: 0.504597 s,
      deltaX: -0.398102 m,
      approachRate: -0.788950 m/s,
      posRepo size: 4

2025-10-25T04:05:45.736Z,1761365145.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.74 m.
2025-10-25T04:05:45.747Z,1761365145.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.743835 m,
      nav range: 32.581802 m,
      bearing: 337.931345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 331.884493 deg,
      new cmd heading: 332.006374 deg.

2025-10-25T04:05:45.753Z,1761365145.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794604 target range: 32.743835 and range: 32.90 m.
2025-10-25T04:05:45.798Z,1761365145.798 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315065
2025-10-25T04:05:46.050Z,1761365146.050 [DAT](INFO): DAT read: Rx Time:04:05:45.1497 

2025-10-25T04:05:46.051Z,1761365146.051 [DAT](INFO): Rx dataTimestamp_ set to:1761365146.050652
2025-10-25T04:05:46.052Z,1761365146.052 [DAT](INFO): DAT read: Bearing  13.4,  -6.7 (Local)

2025-10-25T04:05:46.053Z,1761365146.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.4,  -6.7 (Local)

2025-10-25T04:05:46.055Z,1761365146.055 [DAT](INFO): DAT read: Range 10 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-10-25T04:05:46.060Z,1761365146.060 [DAT](INFO): DAT read: 04:05:45.1497 LVL= 16336, 27713, 17634, 27891, AGC= 59, IDX= 512,-0.42,-2.923, 1.961, 2.980, 3.067, PHS= 0.381,-1.060,-0.090, RAW= 131.3,  12.1, CAL= 136.6,   6.7, ROT=  13.4,  -6.7

2025-10-25T04:05:46.062Z,1761365146.062 [DAT](INFO): got valid direction response:
 04:05:45.1497 LVL= 16336, 27713, 17634, 27891, AGC= 59, IDX= 512,-0.42,-2.923, 1.961, 2.980, 3.067, PHS= 0.381,-1.060,-0.090, RAW= 131.3,  12.1, CAL= 136.6,   6.7, ROT=  13.4,  -6.7

2025-10-25T04:05:46.062Z,1761365146.062 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-25T04:05:46.063Z,1761365146.063 [DAT](INFO): direction in FSK: [0.966132,0.230165,0.116671]
2025-10-25T04:05:46.064Z,1761365146.064 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:46.076Z,1761365146.076 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.593021
2025-10-25T04:05:46.203Z,1761365146.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.503468 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:05:46.206Z,1761365146.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.743824 m,
      bearing: 344.330333 deg,
      lat: 36.779470 deg,
      lon: -121.859704 deg,
      deltaT: 0.503468 s,
      deltaX: -0.000011 m,
      approachRate: -0.000023 m/s,
      posRepo size: 4

2025-10-25T04:05:46.206Z,1761365146.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.74 m.
2025-10-25T04:05:46.217Z,1761365146.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.743824 m,
      nav range: 32.379322 m,
      bearing: 337.880061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 332.006370 deg,
      new cmd heading: 332.154684 deg.

2025-10-25T04:05:46.218Z,1761365146.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797193 target range: 32.743824 and range: 32.90 m.
2025-10-25T04:05:46.303Z,1761365146.303 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819781
2025-10-25T04:05:46.505Z,1761365146.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884177,0.462250,-0.067501],[-0.466935,0.878899,-0.097515],[0.014250,0.117739,0.992942]]
2025-10-25T04:05:46.554Z,1761365146.554 [DAT](INFO): DAT read: Rx Time:04:05:45.6495 

2025-10-25T04:05:46.555Z,1761365146.555 [DAT](INFO): Rx dataTimestamp_ set to:1761365146.554620
2025-10-25T04:05:46.556Z,1761365146.556 [DAT](INFO): DAT read: Bearing   1.5,   5.7 (Local)

2025-10-25T04:05:46.557Z,1761365146.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   5.7 (Local)

2025-10-25T04:05:46.559Z,1761365146.559 [DAT](INFO): DAT read: Range 10 to 50 :    32.6 m (trip time 21.7 ms) speed 0.4

2025-10-25T04:05:46.566Z,1761365146.566 [DAT](INFO): DAT read: 04:05:45.6495 LVL= 16032, 25569, 16434, 24627, AGC= 59, IDX= 509, 0.12,-3.015, 1.795,-3.059, 2.878, PHS= 0.478,-1.036, 0.343, RAW= 145.4,   3.0, CAL= 148.5,  -5.7, ROT=   1.5,   5.7

2025-10-25T04:05:46.567Z,1761365146.567 [DAT](INFO): got valid direction response:
 04:05:45.6495 LVL= 16032, 25569, 16434, 24627, AGC= 59, IDX= 509, 0.12,-3.015, 1.795,-3.059, 2.878, PHS= 0.478,-1.036, 0.343, RAW= 145.4,   3.0, CAL= 148.5,  -5.7, ROT=   1.5,   5.7

2025-10-25T04:05:46.567Z,1761365146.567 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-10-25T04:05:46.568Z,1761365146.568 [DAT](INFO): direction in FSK: [0.994715,0.026048,-0.099320]
2025-10-25T04:05:46.569Z,1761365146.569 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:46.573Z,1761365146.573 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090078
2025-10-25T04:05:46.650Z,1761365146.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.503968 s,
      deltaX: -0.300003 m,
      approachRate: -0.595282 m/s,
      rangeRepo size: 4

2025-10-25T04:05:46.661Z,1761365146.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.445248 m,
      bearing: 334.321194 deg,
      lat: 36.779470 deg,
      lon: -121.859712 deg,
      deltaT: 0.503968 s,
      deltaX: -0.298576 m,
      approachRate: -0.592451 m/s,
      posRepo size: 4

2025-10-25T04:05:46.662Z,1761365146.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.45 m.
2025-10-25T04:05:46.670Z,1761365146.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.445248 m,
      nav range: 32.341335 m,
      bearing: 336.704058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104724 deg/s,
      cmd heading: 332.154695 deg,
      new cmd heading: 332.294608 deg.

2025-10-25T04:05:46.671Z,1761365146.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799635 target range: 32.445248 and range: 32.60 m.
2025-10-25T04:05:46.806Z,1761365146.806 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322805
2025-10-25T04:05:46.966Z,1761365146.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885637,0.459325,-0.068313],[-0.464127,0.880362,-0.097722],[0.015254,0.118252,0.992866]]
2025-10-25T04:05:47.039Z,1761365147.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:47.058Z,1761365147.058 [DAT](INFO): DAT read: Rx Time:04:05:46.1493 

2025-10-25T04:05:47.059Z,1761365147.059 [DAT](INFO): Rx dataTimestamp_ set to:1761365147.058518
2025-10-25T04:05:47.060Z,1761365147.060 [DAT](INFO): DAT read: Bearing   1.2,   4.1 (Local)

2025-10-25T04:05:47.061Z,1761365147.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,   4.1 (Local)

2025-10-25T04:05:47.064Z,1761365147.064 [DAT](INFO): DAT read: Range 10 to 50 :    32.3 m (trip time 21.5 ms) speed 0.4

2025-10-25T04:05:47.070Z,1761365147.070 [DAT](INFO): DAT read: 04:05:46.1493 LVL= 16112, 26193, 16546, 26291, AGC= 58, IDX= 508,-0.19, 0.745,-0.658, 0.732, 0.421, PHS= 0.412,-1.032, 0.308, RAW= 146.3,   4.5, CAL= 148.8,  -4.1, ROT=   1.2,   4.1

2025-10-25T04:05:47.071Z,1761365147.071 [DAT](INFO): got valid direction response:
 04:05:46.1493 LVL= 16112, 26193, 16546, 26291, AGC= 58, IDX= 508,-0.19, 0.745,-0.658, 0.732, 0.421, PHS= 0.412,-1.032, 0.308, RAW= 146.3,   4.5, CAL= 148.8,  -4.1, ROT=   1.2,   4.1

2025-10-25T04:05:47.072Z,1761365147.072 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-25T04:05:47.073Z,1761365147.073 [DAT](INFO): direction in FSK: [0.997222,0.020889,-0.071497]
2025-10-25T04:05:47.073Z,1761365147.073 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:47.081Z,1761365147.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.45 m.
2025-10-25T04:05:47.084Z,1761365147.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.445248 m,
      nav range: 32.170017 m,
      bearing: 336.668947 deg,
      approach rate: -0.428004 m/s,
      LOS rate: -0.088186 deg/s,
      cmd heading: 332.294604 deg,
      new cmd heading: 332.188709 deg.

2025-10-25T04:05:47.091Z,1761365147.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797787 target range: 32.445248 and range: 32.60 m.
2025-10-25T04:05:47.093Z,1761365147.093 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.593584
2025-10-25T04:05:47.311Z,1761365147.311 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828144
2025-10-25T04:05:47.564Z,1761365147.564 [DAT](INFO): DAT read: Rx Time:04:05:46.6491 

2025-10-25T04:05:47.564Z,1761365147.564 [DAT](INFO): Rx dataTimestamp_ set to:1761365147.563933
2025-10-25T04:05:47.566Z,1761365147.566 [DAT](INFO): DAT read: Bearing   0.6,   5.9 (Local)

2025-10-25T04:05:47.566Z,1761365147.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,   5.9 (Local)

2025-10-25T04:05:47.568Z,1761365147.568 [DAT](INFO): DAT read: Range 10 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-10-25T04:05:47.573Z,1761365147.573 [DAT](INFO): DAT read: 04:05:46.6491 LVL= 16928, 25665, 18194, 28275, AGC= 57, IDX= 505, 0.34, 1.775, 0.350, 1.766, 1.408, PHS= 0.455,-1.012, 0.354, RAW= 146.5,   2.9, CAL= 149.4,  -5.9, ROT=   0.6,   5.9

2025-10-25T04:05:47.574Z,1761365147.574 [DAT](INFO): got valid direction response:
 04:05:46.6491 LVL= 16928, 25665, 18194, 28275, AGC= 57, IDX= 505, 0.34, 1.775, 0.350, 1.766, 1.408, PHS= 0.455,-1.012, 0.354, RAW= 146.5,   2.9, CAL= 149.4,  -5.9, ROT=   0.6,   5.9

2025-10-25T04:05:47.574Z,1761365147.574 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-10-25T04:05:47.575Z,1761365147.575 [DAT](INFO): direction in FSK: [0.994648,0.010416,-0.102793]
2025-10-25T04:05:47.576Z,1761365147.576 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:47.581Z,1761365147.581 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.098602
2025-10-25T04:05:47.642Z,1761365147.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 1.009313 s,
      deltaX: -0.599998 m,
      approachRate: -0.594462 m/s,
      rangeRepo size: 4

2025-10-25T04:05:47.645Z,1761365147.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.848082 m,
      bearing: 333.636794 deg,
      lat: 36.779469 deg,
      lon: -121.859716 deg,
      deltaT: 1.009313 s,
      deltaX: -0.597166 m,
      approachRate: -0.591656 m/s,
      posRepo size: 4

2025-10-25T04:05:47.646Z,1761365147.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.85 m.
2025-10-25T04:05:47.666Z,1761365147.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.848082 m,
      nav range: 32.005985 m,
      bearing: 336.009668 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088186 deg/s,
      cmd heading: 332.188709 deg,
      new cmd heading: 332.033004 deg.

2025-10-25T04:05:47.667Z,1761365147.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795069 target range: 31.848082 and range: 32.00 m.
2025-10-25T04:05:47.815Z,1761365147.815 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.331821
2025-10-25T04:05:47.975Z,1761365147.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889246,0.452429,-0.067447],[-0.457115,0.884379,-0.094437],[0.016923,0.114809,0.993243]]
2025-10-25T04:05:48.035Z,1761365148.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.85 m.
2025-10-25T04:05:48.050Z,1761365148.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.848082 m,
      nav range: 31.817711 m,
      bearing: 335.983353 deg,
      approach rate: -0.481656 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 332.033008 deg,
      new cmd heading: 331.953598 deg.

2025-10-25T04:05:48.051Z,1761365148.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793683 target range: 31.848082 and range: 32.00 m.
2025-10-25T04:05:48.066Z,1761365148.066 [DAT](INFO): DAT read: Rx Time:04:05:47.1490 

2025-10-25T04:05:48.067Z,1761365148.067 [DAT](INFO): Rx dataTimestamp_ set to:1761365148.066685
2025-10-25T04:05:48.068Z,1761365148.068 [DAT](INFO): DAT read: Bearing 359.7,   5.6 (Local)

2025-10-25T04:05:48.069Z,1761365148.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   5.6 (Local)

2025-10-25T04:05:48.071Z,1761365148.071 [DAT](INFO): DAT read: Range 10 to 50 :    31.8 m (trip time 21.2 ms) speed 0.4

2025-10-25T04:05:48.076Z,1761365148.076 [DAT](INFO): DAT read: 04:05:47.1490 LVL= 15296, 26753, 16818, 26419, AGC= 57, IDX= 505, 0.03, 2.187, 0.796, 2.211, 1.848, PHS= 0.426,-1.006, 0.360, RAW= 147.6,   3.2, CAL= 150.3,  -5.6, ROT= 359.7,   5.6

2025-10-25T04:05:48.077Z,1761365148.077 [DAT](INFO): got valid direction response:
 04:05:47.1490 LVL= 15296, 26753, 16818, 26419, AGC= 57, IDX= 505, 0.03, 2.187, 0.796, 2.211, 1.848, PHS= 0.426,-1.006, 0.360, RAW= 147.6,   3.2, CAL= 150.3,  -5.6, ROT= 359.7,   5.6

2025-10-25T04:05:48.078Z,1761365148.078 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-25T04:05:48.080Z,1761365148.080 [DAT](INFO): direction in FSK: [0.995214,-0.005211,-0.097583]
2025-10-25T04:05:48.080Z,1761365148.080 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:48.084Z,1761365148.084 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.600739
2025-10-25T04:05:48.319Z,1761365148.319 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835809
2025-10-25T04:05:48.364Z,1761365148.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889781,0.451390,-0.067356],[-0.456052,0.885049,-0.093302],[0.017497,0.113736,0.993357]]
2025-10-25T04:05:48.555Z,1761365148.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.502752 s,
      deltaX: -0.200001 m,
      approachRate: -0.397812 m/s,
      rangeRepo size: 4

2025-10-25T04:05:48.563Z,1761365148.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.649040 m,
      bearing: 333.203352 deg,
      lat: 36.779465 deg,
      lon: -121.859725 deg,
      deltaT: 0.502752 s,
      deltaX: -0.199041 m,
      approachRate: -0.395904 m/s,
      posRepo size: 4

2025-10-25T04:05:48.564Z,1761365148.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.65 m.
2025-10-25T04:05:48.567Z,1761365148.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.649040 m,
      nav range: 31.456295 m,
      bearing: 334.176138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.953587 deg,
      new cmd heading: 331.846610 deg.

2025-10-25T04:05:48.568Z,1761365148.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791816 target range: 31.649040 and range: 31.80 m.
2025-10-25T04:05:48.570Z,1761365148.570 [DAT](INFO): DAT read: Rx Time:04:05:47.6488 

2025-10-25T04:05:48.571Z,1761365148.571 [DAT](INFO): Rx dataTimestamp_ set to:1761365148.570375
2025-10-25T04:05:48.572Z,1761365148.572 [DAT](INFO): DAT read: Bearing 359.1,   5.2 (Local)

2025-10-25T04:05:48.572Z,1761365148.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   5.2 (Local)

2025-10-25T04:05:48.574Z,1761365148.574 [DAT](INFO): DAT read: Range 10 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-10-25T04:05:48.580Z,1761365148.580 [DAT](INFO): DAT read: 04:05:47.6488 LVL= 14528, 26305, 16978, 25379, AGC= 58, IDX= 503,-0.38, 0.693,-0.718, 0.742, 0.369, PHS= 0.412,-1.039, 0.370, RAW= 148.5,   3.6, CAL= 150.9,  -5.2, ROT= 359.1,   5.2

2025-10-25T04:05:48.583Z,1761365148.583 [DAT](INFO): got valid direction response:
 04:05:47.6488 LVL= 14528, 26305, 16978, 25379, AGC= 58, IDX= 503,-0.38, 0.693,-0.718, 0.742, 0.369, PHS= 0.412,-1.039, 0.370, RAW= 148.5,   3.6, CAL= 150.9,  -5.2, ROT= 359.1,   5.2

2025-10-25T04:05:48.583Z,1761365148.583 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-10-25T04:05:48.584Z,1761365148.584 [DAT](INFO): direction in FSK: [0.995762,-0.015643,-0.090633]
2025-10-25T04:05:48.584Z,1761365148.584 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:48.588Z,1761365148.588 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.105028
2025-10-25T04:05:48.824Z,1761365148.824 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.340880
2025-10-25T04:05:48.899Z,1761365148.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890260,0.450402,-0.067646],[-0.455087,0.885634,-0.092460],[0.018265,0.113098,0.993416]]
2025-10-25T04:05:49.018Z,1761365149.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.503690 s,
      deltaX: -0.299999 m,
      approachRate: -0.595603 m/s,
      rangeRepo size: 4

2025-10-25T04:05:49.020Z,1761365149.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.350464 m,
      bearing: 332.620643 deg,
      lat: 36.779463 deg,
      lon: -121.859728 deg,
      deltaT: 0.503690 s,
      deltaX: -0.298576 m,
      approachRate: -0.592778 m/s,
      posRepo size: 4

2025-10-25T04:05:49.029Z,1761365149.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.35 m.
2025-10-25T04:05:49.032Z,1761365149.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.350464 m,
      nav range: 31.199875 m,
      bearing: 333.674883 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.846599 deg,
      new cmd heading: 331.753573 deg.

2025-10-25T04:05:49.038Z,1761365149.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790192 target range: 31.350464 and range: 31.50 m.
2025-10-25T04:05:49.079Z,1761365149.079 [DAT](INFO): DAT read: Rx Time:04:05:48.1488 

2025-10-25T04:05:49.080Z,1761365149.080 [DAT](INFO): Rx dataTimestamp_ set to:1761365149.079446
2025-10-25T04:05:49.081Z,1761365149.081 [DAT](INFO): DAT read: Bearing 358.3,   6.2 (Local)

2025-10-25T04:05:49.082Z,1761365149.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,   6.2 (Local)

2025-10-25T04:05:49.084Z,1761365149.084 [DAT](INFO): DAT read: Range 10 to 50 :    31.5 m (trip time 21.0 ms) speed 0.4

2025-10-25T04:05:49.095Z,1761365149.095 [DAT](INFO): DAT read: 04:05:48.1488 LVL= 14512, 23649, 15714, 23267, AGC= 58, IDX= 502, 0.09,-2.942, 1.903,-2.875, 2.993, PHS= 0.436,-1.042, 0.412, RAW= 149.2,   2.7, CAL= 151.7,  -6.2, ROT= 358.3,   6.2

2025-10-25T04:05:49.097Z,1761365149.097 [DAT](INFO): got valid direction response:
 04:05:48.1488 LVL= 14512, 23649, 15714, 23267, AGC= 58, IDX= 502, 0.09,-2.942, 1.903,-2.875, 2.993, PHS= 0.436,-1.042, 0.412, RAW= 149.2,   2.7, CAL= 151.7,  -6.2, ROT= 358.3,   6.2

2025-10-25T04:05:49.097Z,1761365149.097 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-25T04:05:49.099Z,1761365149.099 [DAT](INFO): direction in FSK: [0.993713,-0.029493,-0.107999]
2025-10-25T04:05:49.099Z,1761365149.099 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:49.106Z,1761365149.106 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.623647
2025-10-25T04:05:49.330Z,1761365149.330 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.846948
2025-10-25T04:05:49.336Z,1761365149.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890661,0.449718,-0.066909],[-0.454293,0.886216,-0.090771],[0.018475,0.111242,0.993622]]
2025-10-25T04:05:49.497Z,1761365149.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 0.509071 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:05:49.499Z,1761365149.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.350464 m,
      bearing: 331.980419 deg,
      lat: 36.779462 deg,
      lon: -121.859731 deg,
      deltaT: 0.509071 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:05:49.500Z,1761365149.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.35 m.
2025-10-25T04:05:49.507Z,1761365149.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.350464 m,
      nav range: 30.962105 m,
      bearing: 333.091108 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.753571 deg,
      new cmd heading: 331.656077 deg.

2025-10-25T04:05:49.508Z,1761365149.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788491 target range: 31.350464 and range: 31.50 m.
2025-10-25T04:05:49.583Z,1761365149.583 [DAT](INFO): DAT read: Rx Time:04:05:48.6485 

2025-10-25T04:05:49.584Z,1761365149.584 [DAT](INFO): Rx dataTimestamp_ set to:1761365149.583426
2025-10-25T04:05:49.587Z,1761365149.587 [DAT](INFO): DAT read: Bearing 358.2,   4.6 (Local)

2025-10-25T04:05:49.588Z,1761365149.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,   4.6 (Local)

2025-10-25T04:05:49.591Z,1761365149.591 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.4

2025-10-25T04:05:49.599Z,1761365149.599 [DAT](INFO): DAT read: 04:05:48.6485 LVL= 15664, 26401, 16962, 27075, AGC= 59, IDX= 500,-0.36, 0.864,-0.539, 0.949, 0.569, PHS= 0.382,-1.061, 0.376, RAW= 149.8,   4.3, CAL= 151.8,  -4.6, ROT= 358.2,   4.6

2025-10-25T04:05:49.605Z,1761365149.605 [DAT](INFO): got valid direction response:
 04:05:48.6485 LVL= 15664, 26401, 16962, 27075, AGC= 59, IDX= 500,-0.36, 0.864,-0.539, 0.949, 0.569, PHS= 0.382,-1.061, 0.376, RAW= 149.8,   4.3, CAL= 151.8,  -4.6, ROT= 358.2,   4.6

2025-10-25T04:05:49.606Z,1761365149.606 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-25T04:05:49.607Z,1761365149.607 [DAT](INFO): direction in FSK: [0.996287,-0.031309,-0.080199]
2025-10-25T04:05:49.608Z,1761365149.608 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:49.638Z,1761365149.638 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.155154
2025-10-25T04:05:49.809Z,1761365149.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890770,0.449507,-0.066881],[-0.454048,0.886507,-0.089138],[0.019222,0.109768,0.993771]]
2025-10-25T04:05:49.834Z,1761365149.834 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350802
2025-10-25T04:05:49.930Z,1761365149.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503980 s,
      deltaX: -0.299999 m,
      approachRate: -0.595260 m/s,
      rangeRepo size: 4

2025-10-25T04:05:49.932Z,1761365149.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.051889 m,
      bearing: 331.709601 deg,
      lat: 36.779461 deg,
      lon: -121.859734 deg,
      deltaT: 0.503980 s,
      deltaX: -0.298574 m,
      approachRate: -0.592433 m/s,
      posRepo size: 4

2025-10-25T04:05:49.945Z,1761365149.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.05 m.
2025-10-25T04:05:49.993Z,1761365149.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.051889 m,
      nav range: 30.825611 m,
      bearing: 332.653152 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.656091 deg,
      new cmd heading: 331.568667 deg.

2025-10-25T04:05:49.994Z,1761365149.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786965 target range: 31.051889 and range: 31.20 m.
2025-10-25T04:05:50.087Z,1761365150.087 [DAT](INFO): DAT read: Rx Time:04:05:49.1483 

2025-10-25T04:05:50.088Z,1761365150.088 [DAT](INFO): Rx dataTimestamp_ set to:1761365150.087421
2025-10-25T04:05:50.089Z,1761365150.089 [DAT](INFO): DAT read: Bearing 358.5,   5.3 (Local)

2025-10-25T04:05:50.089Z,1761365150.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,   5.3 (Local)

2025-10-25T04:05:50.091Z,1761365150.091 [DAT](INFO): DAT read: Range 10 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-10-25T04:05:50.099Z,1761365150.099 [DAT](INFO): DAT read: 04:05:49.1483 LVL= 16176, 25825, 17266, 25699, AGC= 57, IDX= 498, 0.01, 2.388, 1.010, 2.459, 2.079, PHS= 0.397,-1.022, 0.378, RAW= 149.3,   3.5, CAL= 151.5,  -5.3, ROT= 358.5,   5.3

2025-10-25T04:05:50.100Z,1761365150.100 [DAT](INFO): got valid direction response:
 04:05:49.1483 LVL= 16176, 25825, 17266, 25699, AGC= 57, IDX= 498, 0.01, 2.388, 1.010, 2.459, 2.079, PHS= 0.397,-1.022, 0.378, RAW= 149.3,   3.5, CAL= 151.5,  -5.3, ROT= 358.5,   5.3

2025-10-25T04:05:50.102Z,1761365150.102 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-10-25T04:05:50.104Z,1761365150.104 [DAT](INFO): direction in FSK: [0.995383,-0.026065,-0.092371]
2025-10-25T04:05:50.104Z,1761365150.104 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:50.117Z,1761365150.117 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.625424
2025-10-25T04:05:50.298Z,1761365150.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889875,0.451165,-0.067616],[-0.455729,0.885895,-0.086613],[0.020824,0.107890,0.993945]]
2025-10-25T04:05:50.338Z,1761365150.338 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.854872
2025-10-25T04:05:50.518Z,1761365150.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.503995 s,
      deltaX: -0.300001 m,
      approachRate: -0.595246 m/s,
      rangeRepo size: 4

2025-10-25T04:05:50.520Z,1761365150.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.753210 m,
      bearing: 331.965687 deg,
      lat: 36.779461 deg,
      lon: -121.859738 deg,
      deltaT: 0.503995 s,
      deltaX: -0.298679 m,
      approachRate: -0.592624 m/s,
      posRepo size: 4

2025-10-25T04:05:50.541Z,1761365150.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.75 m.
2025-10-25T04:05:50.544Z,1761365150.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.753210 m,
      nav range: 30.681759 m,
      bearing: 332.021951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.568665 deg,
      new cmd heading: 331.449586 deg.

2025-10-25T04:05:50.566Z,1761365150.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784886 target range: 30.753210 and range: 30.90 m.
2025-10-25T04:05:50.590Z,1761365150.590 [DAT](INFO): DAT read: Rx Time:04:05:49.6481 

2025-10-25T04:05:50.591Z,1761365150.591 [DAT](INFO): Rx dataTimestamp_ set to:1761365150.590493
2025-10-25T04:05:50.592Z,1761365150.592 [DAT](INFO): DAT read: Bearing 358.7,   6.3 (Local)

2025-10-25T04:05:50.592Z,1761365150.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.7,   6.3 (Local)

2025-10-25T04:05:50.596Z,1761365150.596 [DAT](INFO): DAT read: Range 10 to 50 :    30.6 m (trip time 20.4 ms) speed 0.4

2025-10-25T04:05:50.601Z,1761365150.601 [DAT](INFO): DAT read: 04:05:49.6481 LVL= 15648, 28129, 17794, 27635, AGC= 57, IDX= 495, 0.25, 3.103, 1.728,-3.126, 2.766, PHS= 0.424,-0.991, 0.388, RAW= 148.7,   2.6, CAL= 151.3,  -6.3, ROT= 358.7,   6.3

2025-10-25T04:05:50.602Z,1761365150.602 [DAT](INFO): got valid direction response:
 04:05:49.6481 LVL= 15648, 28129, 17794, 27635, AGC= 57, IDX= 495, 0.25, 3.103, 1.728,-3.126, 2.766, PHS= 0.424,-0.991, 0.388, RAW= 148.7,   2.6, CAL= 151.3,  -6.3, ROT= 358.7,   6.3

2025-10-25T04:05:50.602Z,1761365150.602 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-10-25T04:05:50.603Z,1761365150.603 [DAT](INFO): direction in FSK: [0.993705,-0.022550,-0.109734]
2025-10-25T04:05:50.604Z,1761365150.604 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:50.607Z,1761365150.607 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.124416
2025-10-25T04:05:50.847Z,1761365150.847 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364445
2025-10-25T04:05:50.943Z,1761365150.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889348,0.452047,-0.068657],[-0.456710,0.885427,-0.086223],[0.021814,0.108038,0.993907]]
2025-10-25T04:05:50.997Z,1761365150.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.503072 s,
      deltaX: -0.299999 m,
      approachRate: -0.596335 m/s,
      rangeRepo size: 4

2025-10-25T04:05:50.999Z,1761365150.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.454636 m,
      bearing: 332.210489 deg,
      lat: 36.779461 deg,
      lon: -121.859738 deg,
      deltaT: 0.503072 s,
      deltaX: -0.298574 m,
      approachRate: -0.593502 m/s,
      posRepo size: 4

2025-10-25T04:05:50.000Z,1761365151.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.45 m.
2025-10-25T04:05:51.007Z,1761365151.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.454636 m,
      nav range: 30.391661 m,
      bearing: 332.044993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.449573 deg,
      new cmd heading: 331.351278 deg.

2025-10-25T04:05:51.008Z,1761365151.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783171 target range: 30.454636 and range: 30.60 m.
2025-10-25T04:05:51.098Z,1761365151.098 [DAT](INFO): DAT read: Rx Time:04:05:50.1480 

2025-10-25T04:05:51.099Z,1761365151.099 [DAT](INFO): Rx dataTimestamp_ set to:1761365151.098540
2025-10-25T04:05:51.100Z,1761365151.100 [DAT](INFO): DAT read: Bearing 358.3,   5.7 (Local)

2025-10-25T04:05:51.101Z,1761365151.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,   5.7 (Local)

2025-10-25T04:05:51.103Z,1761365151.103 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed 0.4

2025-10-25T04:05:51.110Z,1761365151.110 [DAT](INFO): DAT read: 04:05:50.1480 LVL= 15680, 27633, 17362, 26435, AGC= 58, IDX= 510, 0.46,-1.854, 3.048,-1.782,-2.173, PHS= 0.407,-1.015, 0.388, RAW= 149.3,   3.2, CAL= 151.7,  -5.7, ROT= 358.3,   5.7

2025-10-25T04:05:51.112Z,1761365151.112 [DAT](INFO): got valid direction response:
 04:05:50.1480 LVL= 15680, 27633, 17362, 26435, AGC= 58, IDX= 510, 0.46,-1.854, 3.048,-1.782,-2.173, PHS= 0.407,-1.015, 0.388, RAW= 149.3,   3.2, CAL= 151.7,  -5.7, ROT= 358.3,   5.7

2025-10-25T04:05:51.121Z,1761365151.121 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-10-25T04:05:51.122Z,1761365151.122 [DAT](INFO): direction in FSK: [0.994618,-0.029520,-0.099320]
2025-10-25T04:05:51.122Z,1761365151.122 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:51.134Z,1761365151.134 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.651042
2025-10-25T04:05:51.317Z,1761365151.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888825,0.453003,-0.069124],[-0.457698,0.884982,-0.085556],[0.022417,0.107682,0.993933]]
2025-10-25T04:05:51.350Z,1761365151.350 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866968
2025-10-25T04:05:51.487Z,1761365151.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.508047 s,
      deltaX: -0.100000 m,
      approachRate: -0.196833 m/s,
      rangeRepo size: 4

2025-10-25T04:05:51.493Z,1761365151.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.355120 m,
      bearing: 331.681884 deg,
      lat: 36.779461 deg,
      lon: -121.859739 deg,
      deltaT: 0.508047 s,
      deltaX: -0.099516 m,
      approachRate: -0.195879 m/s,
      posRepo size: 4

2025-10-25T04:05:51.495Z,1761365151.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.36 m.
2025-10-25T04:05:51.509Z,1761365151.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.355120 m,
      nav range: 30.142471 m,
      bearing: 332.061328 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.351273 deg,
      new cmd heading: 331.250966 deg.

2025-10-25T04:05:51.510Z,1761365151.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781420 target range: 30.355120 and range: 30.50 m.
2025-10-25T04:05:51.603Z,1761365151.603 [DAT](INFO): DAT read: Rx Time:04:05:50.6477 

2025-10-25T04:05:51.604Z,1761365151.604 [DAT](INFO): Rx dataTimestamp_ set to:1761365151.603835
2025-10-25T04:05:51.606Z,1761365151.606 [DAT](INFO): DAT read: Bearing 357.8,   4.8 (Local)

2025-10-25T04:05:51.607Z,1761365151.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,   4.8 (Local)

2025-10-25T04:05:51.609Z,1761365151.609 [DAT](INFO): DAT read: Range 10 to 50 :    30.0 m (trip time 20.0 ms) speed 0.5

2025-10-25T04:05:51.615Z,1761365151.615 [DAT](INFO): DAT read: 04:05:50.6477 LVL= 15824, 28481, 17650, 28611, AGC= 59, IDX= 508,-0.33, 2.365, 0.978, 2.463, 2.076, PHS= 0.377,-1.051, 0.385, RAW= 150.3,   4.1, CAL= 152.2,  -4.8, ROT= 357.8,   4.8

2025-10-25T04:05:51.616Z,1761365151.616 [DAT](INFO): got valid direction response:
 04:05:50.6477 LVL= 15824, 28481, 17650, 28611, AGC= 59, IDX= 508,-0.33, 2.365, 0.978, 2.463, 2.076, PHS= 0.377,-1.051, 0.385, RAW= 150.3,   4.1, CAL= 152.2,  -4.8, ROT= 357.8,   4.8

2025-10-25T04:05:51.616Z,1761365151.616 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-10-25T04:05:51.617Z,1761365151.617 [DAT](INFO): direction in FSK: [0.995758,-0.038254,-0.083678]
2025-10-25T04:05:51.618Z,1761365151.618 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:51.622Z,1761365151.622 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.138855
2025-10-25T04:05:51.817Z,1761365151.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888052,0.454417,-0.069773],[-0.459145,0.884361,-0.084217],[0.023435,0.106825,0.994002]]
2025-10-25T04:05:51.855Z,1761365151.855 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.371670
2025-10-25T04:05:51.864Z,1761365151.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 0.505295 s,
      deltaX: -0.500000 m,
      approachRate: -0.989521 m/s,
      rangeRepo size: 4

2025-10-25T04:05:51.894Z,1761365151.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.857494 m,
      bearing: 330.989369 deg,
      lat: 36.779461 deg,
      lon: -121.859740 deg,
      deltaT: 0.505295 s,
      deltaX: -0.497625 m,
      approachRate: -0.984821 m/s,
      posRepo size: 4

2025-10-25T04:05:51.896Z,1761365151.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-10-25T04:05:51.915Z,1761365151.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.857494 m,
      nav range: 29.973269 m,
      bearing: 331.926579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.250979 deg,
      new cmd heading: 331.174334 deg.

2025-10-25T04:05:51.933Z,1761365151.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780083 target range: 29.857494 and range: 30.00 m.
2025-10-25T04:05:52.109Z,1761365152.109 [DAT](INFO): DAT read: Rx Time:04:05:51.1477 

2025-10-25T04:05:52.110Z,1761365152.110 [DAT](INFO): Rx dataTimestamp_ set to:1761365152.109562
2025-10-25T04:05:52.113Z,1761365152.113 [DAT](INFO): DAT read: Bearing 358.0,   5.2 (Local)

2025-10-25T04:05:52.114Z,1761365152.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,   5.2 (Local)

2025-10-25T04:05:52.117Z,1761365152.117 [DAT](INFO): DAT read: Range 10 to 50 :    30.0 m (trip time 20.0 ms) speed 0.5

2025-10-25T04:05:52.123Z,1761365152.123 [DAT](INFO): DAT read: 04:05:51.1477 LVL= 13744, 27457, 16690, 26771, AGC= 58, IDX= 507,-0.26,-2.310, 2.597,-2.223,-2.611, PHS= 0.388,-1.029, 0.385, RAW= 149.9,   3.7, CAL= 152.0,  -5.2, ROT= 358.0,   5.2

2025-10-25T04:05:52.124Z,1761365152.124 [DAT](INFO): got valid direction response:
 04:05:51.1477 LVL= 13744, 27457, 16690, 26771, AGC= 58, IDX= 507,-0.26,-2.310, 2.597,-2.223,-2.611, PHS= 0.388,-1.029, 0.385, RAW= 149.9,   3.7, CAL= 152.0,  -5.2, ROT= 358.0,   5.2

2025-10-25T04:05:52.124Z,1761365152.124 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-25T04:05:52.130Z,1761365152.130 [DAT](INFO): direction in FSK: [0.995278,-0.034756,-0.090633]
2025-10-25T04:05:52.130Z,1761365152.130 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:52.134Z,1761365152.134 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.651277
2025-10-25T04:05:52.358Z,1761365152.358 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.875032
2025-10-25T04:05:52.463Z,1761365152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 0.505727 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:05:52.473Z,1761365152.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.857517 m,
      bearing: 331.231150 deg,
      lat: 36.779461 deg,
      lon: -121.859741 deg,
      deltaT: 0.505727 s,
      deltaX: 0.000023 m,
      approachRate: 0.000045 m/s,
      posRepo size: 4

2025-10-25T04:05:52.474Z,1761365152.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.86 m.
2025-10-25T04:05:52.481Z,1761365152.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.857517 m,
      nav range: 29.711496 m,
      bearing: 331.765111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.174344 deg,
      new cmd heading: 331.053921 deg.

2025-10-25T04:05:52.482Z,1761365152.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777981 target range: 29.857517 and range: 30.00 m.
2025-10-25T04:05:52.611Z,1761365152.611 [DAT](INFO): DAT read: Rx Time:04:05:51.6474 

2025-10-25T04:05:52.612Z,1761365152.612 [DAT](INFO): Rx dataTimestamp_ set to:1761365152.611259
2025-10-25T04:05:52.613Z,1761365152.613 [DAT](INFO): DAT read: Bearing 358.0,   5.2 (Local)

2025-10-25T04:05:52.614Z,1761365152.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,   5.2 (Local)

2025-10-25T04:05:52.616Z,1761365152.616 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.7

2025-10-25T04:05:52.621Z,1761365152.621 [DAT](INFO): DAT read: 04:05:51.6474 LVL= 14496, 23393, 15042, 22963, AGC= 58, IDX= 504,-0.22, 2.689, 1.307, 2.778, 2.389, PHS= 0.388,-1.035, 0.385, RAW= 149.9,   3.7, CAL= 152.0,  -5.2, ROT= 358.0,   5.2

2025-10-25T04:05:52.622Z,1761365152.622 [DAT](INFO): got valid direction response:
 04:05:51.6474 LVL= 14496, 23393, 15042, 22963, AGC= 58, IDX= 504,-0.22, 2.689, 1.307, 2.778, 2.389, PHS= 0.388,-1.035, 0.385, RAW= 149.9,   3.7, CAL= 152.0,  -5.2, ROT= 358.0,   5.2

2025-10-25T04:05:52.622Z,1761365152.622 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-10-25T04:05:52.623Z,1761365152.623 [DAT](INFO): direction in FSK: [0.995278,-0.034756,-0.090633]
2025-10-25T04:05:52.624Z,1761365152.624 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:52.629Z,1761365152.629 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.146443
2025-10-25T04:05:52.744Z,1761365152.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886460,0.457366,-0.070743],[-0.462118,0.883069,-0.081469],[0.025210,0.104911,0.994162]]
2025-10-25T04:05:52.792Z,1761365152.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.501697 s,
      deltaX: -0.400000 m,
      approachRate: -0.797293 m/s,
      rangeRepo size: 4

2025-10-25T04:05:52.799Z,1761365152.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.459417 m,
      bearing: 331.027712 deg,
      lat: 36.779460 deg,
      lon: -121.859744 deg,
      deltaT: 0.501697 s,
      deltaX: -0.398100 m,
      approachRate: -0.793507 m/s,
      posRepo size: 4

2025-10-25T04:05:52.799Z,1761365152.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.46 m.
2025-10-25T04:05:52.810Z,1761365152.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.459417 m,
      nav range: 29.569735 m,
      bearing: 331.377718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 331.053914 deg,
      new cmd heading: 330.985889 deg.

2025-10-25T04:05:52.812Z,1761365152.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776793 target range: 29.459417 and range: 29.60 m.
2025-10-25T04:05:52.863Z,1761365152.863 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.379735
2025-10-25T04:05:53.125Z,1761365153.125 [DAT](INFO): DAT read: Rx Time:04:05:52.1473 

2025-10-25T04:05:53.126Z,1761365153.126 [DAT](INFO): Rx dataTimestamp_ set to:1761365153.125415
2025-10-25T04:05:53.128Z,1761365153.128 [DAT](INFO): DAT read: Bearing 358.6,   4.8 (Local)

2025-10-25T04:05:53.129Z,1761365153.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,   4.8 (Local)

2025-10-25T04:05:53.132Z,1761365153.132 [DAT](INFO): DAT read: Range 10 to 50 :    29.4 m (trip time 19.6 ms) speed 0.5

2025-10-25T04:05:53.137Z,1761365153.137 [DAT](INFO): DAT read: 04:05:52.1473 LVL= 14976, 25681, 15570, 24947, AGC= 58, IDX= 503,-0.18,-2.986, 1.928,-2.913, 3.004, PHS= 0.381,-1.029, 0.363, RAW= 149.4,   4.1, CAL= 151.4,  -4.8, ROT= 358.6,   4.8

2025-10-25T04:05:53.138Z,1761365153.138 [DAT](INFO): got valid direction response:
 04:05:52.1473 LVL= 14976, 25681, 15570, 24947, AGC= 58, IDX= 503,-0.18,-2.986, 1.928,-2.913, 3.004, PHS= 0.381,-1.029, 0.363, RAW= 149.4,   4.1, CAL= 151.4,  -4.8, ROT= 358.6,   4.8

2025-10-25T04:05:53.139Z,1761365153.139 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-10-25T04:05:53.139Z,1761365153.139 [DAT](INFO): direction in FSK: [0.996195,-0.024346,-0.083678]
2025-10-25T04:05:53.140Z,1761365153.140 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:53.163Z,1761365153.163 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.679898
2025-10-25T04:05:53.183Z,1761365153.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886295,0.457619,-0.071176],[-0.462404,0.882959,-0.081028],[0.025765,0.104727,0.994167]]
2025-10-25T04:05:53.313Z,1761365153.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.514156 s,
      deltaX: -0.200001 m,
      approachRate: -0.388988 m/s,
      rangeRepo size: 4

2025-10-25T04:05:53.315Z,1761365153.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.260365 m,
      bearing: 331.561106 deg,
      lat: 36.779460 deg,
      lon: -121.859744 deg,
      deltaT: 0.514156 s,
      deltaX: -0.199053 m,
      approachRate: -0.387145 m/s,
      posRepo size: 4

2025-10-25T04:05:53.316Z,1761365153.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.26 m.
2025-10-25T04:05:53.337Z,1761365153.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.260365 m,
      nav range: 29.261654 m,
      bearing: 331.366051 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 330.985886 deg,
      new cmd heading: 330.882538 deg.

2025-10-25T04:05:53.338Z,1761365153.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774990 target range: 29.260365 and range: 29.40 m.
2025-10-25T04:05:53.377Z,1761365153.377 [DAT](INFO): DAT read: Rx Time:04:05:52.6470 

2025-10-25T04:05:53.379Z,1761365153.379 [DAT](INFO): Rx dataTimestamp_ set to:1761365153.377727
2025-10-25T04:05:53.382Z,1761365153.382 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.897620
2025-10-25T04:05:53.627Z,1761365153.627 [DAT](INFO): DAT read: Bearing 358.9,   4.9 (Local)

2025-10-25T04:05:53.627Z,1761365153.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,   4.9 (Local)

2025-10-25T04:05:53.630Z,1761365153.630 [DAT](INFO): DAT read: Range 10 to 50 :    29.0 m (trip time 19.3 ms) speed 0.5

2025-10-25T04:05:53.635Z,1761365153.635 [DAT](INFO): DAT read: 04:05:52.6470 LVL= 15392, 31137, 18658, 29795, AGC= 58, IDX= 500,-0.08, 1.852, 0.478, 1.913, 1.549, PHS= 0.390,-1.024, 0.360, RAW= 148.9,   3.9, CAL= 151.1,  -4.9, ROT= 358.9,   4.9

2025-10-25T04:05:53.636Z,1761365153.636 [DAT](INFO): got valid direction response:
 04:05:52.6470 LVL= 15392, 31137, 18658, 29795, AGC= 58, IDX= 500,-0.08, 1.852, 0.478, 1.913, 1.549, PHS= 0.390,-1.024, 0.360, RAW= 148.9,   3.9, CAL= 151.1,  -4.9, ROT= 358.9,   4.9

2025-10-25T04:05:53.637Z,1761365153.637 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-10-25T04:05:53.638Z,1761365153.638 [DAT](INFO): direction in FSK: [0.996162,-0.019127,-0.085417]
2025-10-25T04:05:53.638Z,1761365153.638 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:53.642Z,1761365153.642 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.158783
2025-10-25T04:05:53.807Z,1761365153.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.499832 s,
      deltaX: -0.400000 m,
      approachRate: -0.800268 m/s,
      rangeRepo size: 4

2025-10-25T04:05:53.816Z,1761365153.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.862265 m,
      bearing: 331.869461 deg,
      lat: 36.779459 deg,
      lon: -121.859744 deg,
      deltaT: 0.499832 s,
      deltaX: -0.398100 m,
      approachRate: -0.796467 m/s,
      posRepo size: 4

2025-10-25T04:05:53.833Z,1761365153.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.86 m.
2025-10-25T04:05:53.835Z,1761365153.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.862265 m,
      nav range: 28.945879 m,
      bearing: 331.363445 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 330.882531 deg,
      new cmd heading: 330.779725 deg.

2025-10-25T04:05:53.841Z,1761365153.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773195 target range: 28.862265 and range: 29.00 m.
2025-10-25T04:05:53.882Z,1761365153.882 [DAT](INFO): DAT read: Rx Time:04:05:53.1468 

2025-10-25T04:05:53.884Z,1761365153.884 [DAT](INFO): Rx dataTimestamp_ set to:1761365153.882563
2025-10-25T04:05:53.887Z,1761365153.887 [DAT](INFO): DAT read: Bearing 358.8,   5.7 (Local)

2025-10-25T04:05:53.888Z,1761365153.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   5.7 (Local)

2025-10-25T04:05:53.891Z,1761365153.891 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.408142
2025-10-25T04:05:54.135Z,1761365154.135 [DAT](INFO): DAT read: Range 10 to 50 :    28.7 m (trip time 19.1 ms) speed 0.5

2025-10-25T04:05:54.139Z,1761365154.139 [DAT](INFO): DAT read: 04:05:53.1468 LVL= 15328, 26769, 17154, 27635, AGC= 57, IDX= 498, 0.02, 2.089, 0.688, 2.144, 1.758, PHS= 0.419,-1.023, 0.383, RAW= 148.7,   3.1, CAL= 151.2,  -5.7, ROT= 358.8,   5.7

2025-10-25T04:05:54.141Z,1761365154.141 [DAT](INFO): got valid direction response:
 04:05:53.1468 LVL= 15328, 26769, 17154, 27635, AGC= 57, IDX= 498, 0.02, 2.089, 0.688, 2.144, 1.758, PHS= 0.419,-1.023, 0.383, RAW= 148.7,   3.1, CAL= 151.2,  -5.7, ROT= 358.8,   5.7

2025-10-25T04:05:54.141Z,1761365154.141 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-10-25T04:05:54.142Z,1761365154.142 [DAT](INFO): direction in FSK: [0.994837,-0.020839,-0.099320]
2025-10-25T04:05:54.142Z,1761365154.142 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:54.147Z,1761365154.147 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.663755
2025-10-25T04:05:54.157Z,1761365154.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886614,0.456984,-0.071282],[-0.461780,0.883296,-0.080914],[0.025986,0.104656,0.994169]]
2025-10-25T04:05:54.305Z,1761365154.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.504455 s,
      deltaX: -0.299999 m,
      approachRate: -0.594700 m/s,
      rangeRepo size: 4

2025-10-25T04:05:54.308Z,1761365154.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.563627 m,
      bearing: 331.894583 deg,
      lat: 36.779459 deg,
      lon: -121.859742 deg,
      deltaT: 0.504455 s,
      deltaX: -0.298637 m,
      approachRate: -0.592000 m/s,
      posRepo size: 4

2025-10-25T04:05:54.313Z,1761365154.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.56 m.
2025-10-25T04:05:54.316Z,1761365154.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.563627 m,
      nav range: 28.665104 m,
      bearing: 331.594758 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 330.779723 deg,
      new cmd heading: 330.679534 deg.

2025-10-25T04:05:54.321Z,1761365154.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771447 target range: 28.563627 and range: 28.70 m.
2025-10-25T04:05:54.386Z,1761365154.386 [DAT](INFO): DAT read: Rx Time:04:05:53.6466 

2025-10-25T04:05:54.387Z,1761365154.387 [DAT](INFO): Rx dataTimestamp_ set to:1761365154.386369
2025-10-25T04:05:54.419Z,1761365154.419 [DAT](INFO): DAT read: Bearing 358.8,   6.0 (Local)

2025-10-25T04:05:54.426Z,1761365154.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   6.0 (Local)

2025-10-25T04:05:54.434Z,1761365154.434 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.4

2025-10-25T04:05:54.443Z,1761365154.443 [DAT](INFO): DAT read: 04:05:53.6466 LVL= 15568, 29281, 19042, 29075, AGC= 57, IDX= 495, 0.17, 1.271,-0.170, 1.321, 0.921, PHS= 0.438,-1.044, 0.398, RAW= 148.6,   2.9, CAL= 151.2,  -6.0, ROT= 358.8,   6.0

2025-10-25T04:05:54.444Z,1761365154.444 [DAT](INFO): got valid direction response:
 04:05:53.6466 LVL= 15568, 29281, 19042, 29075, AGC= 57, IDX= 495, 0.17, 1.271,-0.170, 1.321, 0.921, PHS= 0.438,-1.044, 0.398, RAW= 148.6,   2.9, CAL= 151.2,  -6.0, ROT= 358.8,   6.0

2025-10-25T04:05:54.449Z,1761365154.449 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-10-25T04:05:54.450Z,1761365154.450 [DAT](INFO): direction in FSK: [0.994304,-0.020828,-0.104528]
2025-10-25T04:05:54.450Z,1761365154.450 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:54.470Z,1761365154.470 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.987389
2025-10-25T04:05:54.587Z,1761365154.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886953,0.456348,-0.071140],[-0.461142,0.883590,-0.081339],[0.025739,0.104949,0.994144]]
2025-10-25T04:05:54.634Z,1761365154.634 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.151001
2025-10-25T04:05:54.691Z,1761365154.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.256667 s,
      deltaX: -0.300001 m,
      approachRate: -1.168834 m/s,
      rangeRepo size: 4

2025-10-25T04:05:54.697Z,1761365154.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.265051 m,
      bearing: 331.969473 deg,
      lat: 36.779459 deg,
      lon: -121.859740 deg,
      deltaT: 0.256667 s,
      deltaX: -0.298576 m,
      approachRate: -1.163283 m/s,
      posRepo size: 4

2025-10-25T04:05:54.698Z,1761365154.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.27 m.
2025-10-25T04:05:54.705Z,1761365154.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.265051 m,
      nav range: 28.268642 m,
      bearing: 331.821179 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067717 deg/s,
      cmd heading: 330.679538 deg,
      new cmd heading: 330.600091 deg.

2025-10-25T04:05:54.706Z,1761365154.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770060 target range: 28.265051 and range: 28.40 m.
2025-10-25T04:05:54.891Z,1761365154.891 [DAT](INFO): DAT read: Rx Time:04:05:54.1465 

2025-10-25T04:05:54.893Z,1761365154.893 [DAT](INFO): Rx dataTimestamp_ set to:1761365154.891906
2025-10-25T04:05:54.896Z,1761365154.896 [DAT](INFO): DAT read: Bearing 359.1,   5.1 (Local)

2025-10-25T04:05:54.897Z,1761365154.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   5.1 (Local)

2025-10-25T04:05:54.902Z,1761365154.902 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.4

2025-10-25T04:05:54.904Z,1761365154.904 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-10-25T04:05:54.911Z,1761365154.911 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.424936
2025-10-25T04:05:55.012Z,1761365155.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887737,0.454893,-0.070680],[-0.459662,0.884296,-0.082045],[0.025180,0.105323,0.994119]]
2025-10-25T04:05:55.066Z,1761365155.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:55.077Z,1761365155.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.505537 s,
      deltaX: -0.199999 m,
      approachRate: -0.395617 m/s,
      rangeRepo size: 4

2025-10-25T04:05:55.078Z,1761365155.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.27 m.
2025-10-25T04:05:55.087Z,1761365155.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.265051 m,
      nav range: 28.080942 m,
      bearing: 331.820417 deg,
      approach rate: -0.496165 m/s,
      LOS rate: -0.002028 deg/s,
      cmd heading: 330.600089 deg,
      new cmd heading: 330.597787 deg.

2025-10-25T04:05:55.088Z,1761365155.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770020 target range: 28.265051 and range: 28.20 m.
2025-10-25T04:05:55.146Z,1761365155.146 [DAT](INFO): DAT read: 04:05:54.1465 LVL= 15440, 26097, 16978, 25459, AGC= 57, IDX= 511,-0.45, 0.262,-1.157, 0.313,-0.061, PHS= 0.410,-1.049, 0.370, RAW= 148.6,   3.8, CAL= 150.9,  -5.1, ROT= 359.1,   5.1

2025-10-25T04:05:55.149Z,1761365155.149 [DAT](INFO): got valid direction response:
 04:05:54.1465 LVL= 15440, 26097, 16978, 25459, AGC= 57, IDX= 511,-0.45, 0.262,-1.157, 0.313,-0.061, PHS= 0.410,-1.049, 0.370, RAW= 148.6,   3.8, CAL= 150.9,  -5.1, ROT= 359.1,   5.1

2025-10-25T04:05:55.150Z,1761365155.150 [DAT](INFO): #Rx 32: Read direction message, but no range.
2025-10-25T04:05:55.153Z,1761365155.153 [DAT](INFO): direction in FSK: [0.995918,-0.015645,-0.088894]
2025-10-25T04:05:55.158Z,1761365155.158 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.675072
2025-10-25T04:05:55.393Z,1761365155.393 [DAT](INFO): DAT read: Rx Time:04:05:54.6462 

2025-10-25T04:05:55.395Z,1761365155.395 [DAT](INFO): Rx dataTimestamp_ set to:1761365155.393635
2025-10-25T04:05:55.399Z,1761365155.399 [DAT](INFO): DAT read: Bearing 359.3,   4.4 (Local)

2025-10-25T04:05:55.400Z,1761365155.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,   4.4 (Local)

2025-10-25T04:05:55.428Z,1761365155.428 [DAT](INFO): DAT read: Range 10 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-10-25T04:05:55.453Z,1761365155.453 [DAT](INFO): DAT read: 04:05:54.6462 LVL= 15072, 24801, 16290, 25939, AGC= 58, IDX= 508,-0.03,-1.993, 2.883,-1.941,-2.296, PHS= 0.391,-1.057, 0.352, RAW= 148.6,   4.5, CAL= 150.7,  -4.4, ROT= 359.3,   4.4

2025-10-25T04:05:55.455Z,1761365155.455 [DAT](INFO): got valid direction response:
 04:05:54.6462 LVL= 15072, 24801, 16290, 25939, AGC= 58, IDX= 508,-0.03,-1.993, 2.883,-1.941,-2.296, PHS= 0.391,-1.057, 0.352, RAW= 148.6,   4.5, CAL= 150.7,  -4.4, ROT= 359.3,   4.4

2025-10-25T04:05:55.455Z,1761365155.455 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-10-25T04:05:55.456Z,1761365155.456 [DAT](INFO): direction in FSK: [0.996978,-0.012181,-0.076719]
2025-10-25T04:05:55.456Z,1761365155.456 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:55.472Z,1761365155.472 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.989231
2025-10-25T04:05:55.619Z,1761365155.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.501729 s,
      deltaX: -0.400002 m,
      approachRate: -0.797246 m/s,
      rangeRepo size: 4

2025-10-25T04:05:55.625Z,1761365155.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.667805 m,
      bearing: 332.394054 deg,
      lat: 36.779459 deg,
      lon: -121.859740 deg,
      deltaT: 1.007266 s,
      deltaX: -0.597246 m,
      approachRate: -0.592938 m/s,
      posRepo size: 4

2025-10-25T04:05:55.626Z,1761365155.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.67 m.
2025-10-25T04:05:55.634Z,1761365155.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.667805 m,
      nav range: 27.810925 m,
      bearing: 331.851176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002028 deg/s,
      cmd heading: 330.597794 deg,
      new cmd heading: 330.594449 deg.

2025-10-25T04:05:55.635Z,1761365155.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769962 target range: 27.667805 and range: 27.80 m.
2025-10-25T04:05:55.642Z,1761365155.642 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.158981
2025-10-25T04:05:55.898Z,1761365155.898 [DAT](INFO): DAT read: Rx Time:04:05:55.1462 

2025-10-25T04:05:55.899Z,1761365155.899 [DAT](INFO): Rx dataTimestamp_ set to:1761365155.898486
2025-10-25T04:05:55.903Z,1761365155.903 [DAT](INFO): DAT read: Bearing 359.5,   5.2 (Local)

2025-10-25T04:05:55.904Z,1761365155.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,   5.2 (Local)

2025-10-25T04:05:55.909Z,1761365155.909 [DAT](INFO): DAT read: Range 10 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-10-25T04:05:55.912Z,1761365155.912 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-25T04:05:55.915Z,1761365155.915 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.431864
2025-10-25T04:05:55.974Z,1761365155.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889086,0.452698,-0.067752],[-0.457161,0.885623,-0.081700],[0.023018,0.103612,0.994351]]
2025-10-25T04:05:56.028Z,1761365156.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.504851 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:05:56.033Z,1761365156.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.67 m.
2025-10-25T04:05:56.036Z,1761365156.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.667805 m,
      nav range: 27.617413 m,
      bearing: 331.815722 deg,
      approach rate: -0.472758 m/s,
      LOS rate: -0.087222 deg/s,
      cmd heading: 330.594461 deg,
      new cmd heading: 330.487354 deg.

2025-10-25T04:05:56.050Z,1761365156.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768093 target range: 27.667805 and range: 27.80 m.
2025-10-25T04:05:56.151Z,1761365156.151 [DAT](INFO): DAT read: 04:05:55.1462 LVL= 15152, 31761, 18034, 28851, AGC= 58, IDX= 507, 0.34, 0.489,-0.937, 0.524, 0.154, PHS= 0.423,-1.044, 0.367, RAW= 148.1,   3.6, CAL= 150.5,  -5.2, ROT= 359.5,   5.2

2025-10-25T04:05:56.154Z,1761365156.154 [DAT](INFO): got valid direction response:
 04:05:55.1462 LVL= 15152, 31761, 18034, 28851, AGC= 58, IDX= 507, 0.34, 0.489,-0.937, 0.524, 0.154, PHS= 0.423,-1.044, 0.367, RAW= 148.1,   3.6, CAL= 150.5,  -5.2, ROT= 359.5,   5.2

2025-10-25T04:05:56.154Z,1761365156.154 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-10-25T04:05:56.159Z,1761365156.159 [DAT](INFO): direction in FSK: [0.995846,-0.008690,-0.090633]
2025-10-25T04:05:56.181Z,1761365156.181 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.697943
2025-10-25T04:05:56.378Z,1761365156.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889279,0.452616,-0.065739],[-0.456839,0.885925,-0.080218],[0.021931,0.101369,0.994607]]
2025-10-25T04:05:56.401Z,1761365156.401 [DAT](INFO): DAT read: Rx Time:04:05:55.6459 

2025-10-25T04:05:56.403Z,1761365156.403 [DAT](INFO): Rx dataTimestamp_ set to:1761365156.401760
2025-10-25T04:05:56.406Z,1761365156.406 [DAT](INFO): DAT read: Bearing 359.5,   4.5 (Local)

2025-10-25T04:05:56.407Z,1761365156.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,   4.5 (Local)

2025-10-25T04:05:56.413Z,1761365156.413 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed 0.4

2025-10-25T04:05:56.415Z,1761365156.415 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-25T04:05:56.432Z,1761365156.432 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.949017
2025-10-25T04:05:56.546Z,1761365156.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503274 s,
      deltaX: -0.500000 m,
      approachRate: -0.993495 m/s,
      rangeRepo size: 4

2025-10-25T04:05:56.548Z,1761365156.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.170120 m,
      bearing: 332.840867 deg,
      lat: 36.779458 deg,
      lon: -121.859739 deg,
      deltaT: 1.008125 s,
      deltaX: -0.497684 m,
      approachRate: -0.493673 m/s,
      posRepo size: 4

2025-10-25T04:05:56.553Z,1761365156.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.17 m.
2025-10-25T04:05:56.556Z,1761365156.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.170120 m,
      nav range: 27.349665 m,
      bearing: 331.858278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087222 deg/s,
      cmd heading: 330.487364 deg,
      new cmd heading: 330.353090 deg.

2025-10-25T04:05:56.561Z,1761365156.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765749 target range: 27.170120 and range: 27.30 m.
2025-10-25T04:05:56.656Z,1761365156.656 [DAT](INFO): DAT read: 04:05:55.6459 LVL= 16336, 27297, 17026, 27251, AGC= 58, IDX= 505,-0.09,-2.197, 2.674,-2.154,-2.508, PHS= 0.399,-1.054, 0.350, RAW= 148.3,   4.3, CAL= 150.5,  -4.5, ROT= 359.5,   4.5

2025-10-25T04:05:56.658Z,1761365156.658 [DAT](INFO): got valid direction response:
 04:05:55.6459 LVL= 16336, 27297, 17026, 27251, AGC= 58, IDX= 505,-0.09,-2.197, 2.674,-2.154,-2.508, PHS= 0.399,-1.054, 0.350, RAW= 148.3,   4.3, CAL= 150.5,  -4.5, ROT= 359.5,   4.5

2025-10-25T04:05:56.659Z,1761365156.659 [DAT](INFO): #Rx 37: Read direction message, but no range.
2025-10-25T04:05:56.660Z,1761365156.660 [DAT](INFO): direction in FSK: [0.996879,-0.008699,-0.078459]
2025-10-25T04:05:56.664Z,1761365156.664 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.181265
2025-10-25T04:05:56.866Z,1761365156.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889176,0.452978,-0.064639],[-0.457051,0.885969,-0.078505],[0.021708,0.099348,0.994816]]
2025-10-25T04:05:56.905Z,1761365156.905 [DAT](INFO): DAT read: Rx Time:04:05:56.1459 

2025-10-25T04:05:56.907Z,1761365156.907 [DAT](INFO): Rx dataTimestamp_ set to:1761365156.906129
2025-10-25T04:05:56.911Z,1761365156.911 [DAT](INFO): DAT read: Bearing 359.6,   5.0 (Local)

2025-10-25T04:05:56.912Z,1761365156.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,   5.0 (Local)

2025-10-25T04:05:56.934Z,1761365156.934 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed 0.4

2025-10-25T04:05:56.948Z,1761365156.948 [DAT](INFO): DAT read: 04:05:56.1459 LVL= 14736, 24241, 16594, 25331, AGC= 57, IDX= 504, 0.33, 0.603,-0.853, 0.637, 0.266, PHS= 0.425,-1.072, 0.368, RAW= 148.1,   3.9, CAL= 150.4,  -5.0, ROT= 359.6,   5.0

2025-10-25T04:05:56.952Z,1761365156.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.17 m.
2025-10-25T04:05:56.957Z,1761365156.957 [DAT](INFO): got valid direction response:
 04:05:56.1459 LVL= 14736, 24241, 16594, 25331, AGC= 57, IDX= 504, 0.33, 0.603,-0.853, 0.637, 0.266, PHS= 0.425,-1.072, 0.368, RAW= 148.1,   3.9, CAL= 150.4,  -5.0, ROT= 359.6,   5.0

2025-10-25T04:05:56.957Z,1761365156.957 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-10-25T04:05:56.958Z,1761365156.958 [DAT](INFO): direction in FSK: [0.996170,-0.006955,-0.087156]
2025-10-25T04:05:56.959Z,1761365156.959 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:56.964Z,1761365156.964 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.480925
2025-10-25T04:05:56.971Z,1761365156.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.170120 m,
      nav range: 27.162542 m,
      bearing: 331.797586 deg,
      approach rate: -0.454572 m/s,
      LOS rate: -0.148455 deg/s,
      cmd heading: 330.353082 deg,
      new cmd heading: 330.169751 deg.

2025-10-25T04:05:56.972Z,1761365156.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762549 target range: 27.170120 and range: 27.30 m.
2025-10-25T04:05:57.154Z,1761365157.154 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.670975
2025-10-25T04:05:57.270Z,1761365157.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888898,0.453696,-0.063402],[-0.457614,0.885807,-0.077048],[0.021205,0.097501,0.995009]]
2025-10-25T04:05:57.421Z,1761365157.421 [DAT](INFO): DAT read: Rx Time:04:05:56.6457 

2025-10-25T04:05:57.422Z,1761365157.422 [DAT](INFO): Rx dataTimestamp_ set to:1761365157.421744
2025-10-25T04:05:57.426Z,1761365157.426 [DAT](INFO): DAT read: Bearing   0.2,   3.8 (Local)

2025-10-25T04:05:57.428Z,1761365157.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,   3.8 (Local)

2025-10-25T04:05:57.431Z,1761365157.431 [DAT](INFO): DAT read: Range 10 to 50 :    26.9 m (trip time 17.9 ms) speed 0.4

2025-10-25T04:05:57.437Z,1761365157.437 [DAT](INFO): DAT read: 04:05:56.6457 LVL= 17584, 32465, 19314, 32755, AGC= 57, IDX= 502,-0.05,-2.219, 2.692,-2.195,-2.513, PHS= 0.381,-1.031, 0.314, RAW= 147.6,   4.9, CAL= 149.8,  -3.8, ROT=   0.2,   3.8

2025-10-25T04:05:57.438Z,1761365157.438 [DAT](INFO): got valid direction response:
 04:05:56.6457 LVL= 17584, 32465, 19314, 32755, AGC= 57, IDX= 502,-0.05,-2.219, 2.692,-2.195,-2.513, PHS= 0.381,-1.031, 0.314, RAW= 147.6,   4.9, CAL= 149.8,  -3.8, ROT=   0.2,   3.8

2025-10-25T04:05:57.439Z,1761365157.439 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-10-25T04:05:57.440Z,1761365157.440 [DAT](INFO): direction in FSK: [0.997795,0.003483,-0.066274]
2025-10-25T04:05:57.440Z,1761365157.440 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:57.444Z,1761365157.444 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.960747
2025-10-25T04:05:57.485Z,1761365157.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 1.019984 s,
      deltaX: -0.400000 m,
      approachRate: -0.392163 m/s,
      rangeRepo size: 4

2025-10-25T04:05:57.487Z,1761365157.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.772133 m,
      bearing: 333.329621 deg,
      lat: 36.779458 deg,
      lon: -121.859736 deg,
      deltaT: 1.019984 s,
      deltaX: -0.397987 m,
      approachRate: -0.390190 m/s,
      posRepo size: 4

2025-10-25T04:05:57.488Z,1761365157.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m.
2025-10-25T04:05:57.496Z,1761365157.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.772133 m,
      nav range: 26.862225 m,
      bearing: 332.205113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.148455 deg/s,
      cmd heading: 330.169760 deg,
      new cmd heading: 329.938281 deg.

2025-10-25T04:05:57.498Z,1761365157.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758509 target range: 26.772133 and range: 26.90 m.
2025-10-25T04:05:57.658Z,1761365157.658 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.174953
2025-10-25T04:05:57.795Z,1761365157.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887908,0.456097,-0.059962],[-0.459570,0.885244,-0.071689],[0.020384,0.091209,0.995623]]
2025-10-25T04:05:57.863Z,1761365157.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:57.886Z,1761365157.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m.
2025-10-25T04:05:57.914Z,1761365157.914 [DAT](INFO): DAT read: Rx Time:04:05:57.1456 

2025-10-25T04:05:57.916Z,1761365157.916 [DAT](INFO): Rx dataTimestamp_ set to:1761365157.914813
2025-10-25T04:05:57.921Z,1761365157.921 [DAT](INFO): DAT read: Bearing   0.2,   4.9 (Local)

2025-10-25T04:05:57.922Z,1761365157.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,   4.9 (Local)

2025-10-25T04:05:57.931Z,1761365157.931 [DAT](INFO): DAT read: Range 10 to 50 :    26.7 m (trip time 17.8 ms) speed 0.4

2025-10-25T04:05:57.942Z,1761365157.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.772133 m,
      nav range: 26.641865 m,
      bearing: 332.101473 deg,
      approach rate: -0.561230 m/s,
      LOS rate: -0.266141 deg/s,
      cmd heading: 329.938271 deg,
      new cmd heading: 329.624784 deg.

2025-10-25T04:05:57.943Z,1761365157.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753038 target range: 26.772133 and range: 26.90 m.
2025-10-25T04:05:57.961Z,1761365157.961 [DAT](INFO): DAT read: 04:05:57.1456 LVL= 15680, 30481, 18098, 29667, AGC= 58, IDX= 500, 0.41,-0.104,-1.523,-0.092,-0.439, PHS= 0.423,-1.036, 0.344, RAW= 147.3,   3.8, CAL= 149.8,  -4.9, ROT=   0.2,   4.9

2025-10-25T04:05:57.963Z,1761365157.963 [DAT](INFO): got valid direction response:
 04:05:57.1456 LVL= 15680, 30481, 18098, 29667, AGC= 58, IDX= 500, 0.41,-0.104,-1.523,-0.092,-0.439, PHS= 0.423,-1.036, 0.344, RAW= 147.3,   3.8, CAL= 149.8,  -4.9, ROT=   0.2,   4.9

2025-10-25T04:05:57.963Z,1761365157.963 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-10-25T04:05:57.977Z,1761365157.977 [DAT](INFO): direction in FSK: [0.996339,0.003478,-0.085417]
2025-10-25T04:05:57.977Z,1761365157.977 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:57.990Z,1761365157.990 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.507557
2025-10-25T04:05:58.163Z,1761365158.163 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.680021
2025-10-25T04:05:58.258Z,1761365158.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887531,0.456963,-0.058943],[-0.460321,0.884932,-0.070712],[0.019848,0.089892,0.995754]]
2025-10-25T04:05:58.425Z,1761365158.425 [DAT](INFO): DAT read: Rx Time:04:05:57.6453 

2025-10-25T04:05:58.427Z,1761365158.427 [DAT](INFO): Rx dataTimestamp_ set to:1761365158.425578
2025-10-25T04:05:58.435Z,1761365158.435 [DAT](INFO): DAT read: Bearing   0.5,   4.7 (Local)

2025-10-25T04:05:58.436Z,1761365158.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,   4.7 (Local)

2025-10-25T04:05:58.438Z,1761365158.438 [DAT](INFO): DAT read: Range 10 to 50 :    26.3 m (trip time 17.5 ms) speed 0.4

2025-10-25T04:05:58.452Z,1761365158.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.493069 s,
      deltaX: -0.199999 m,
      approachRate: -0.405620 m/s,
      rangeRepo size: 4

2025-10-25T04:05:58.454Z,1761365158.454 [DAT](INFO): DAT read: 04:05:57.6453 LVL= 15088, 30945, 17650, 29539, AGC= 57, IDX= 498, 0.05,-1.710,-3.083,-1.704,-2.030, PHS= 0.409,-1.006, 0.323, RAW= 146.9,   4.0, CAL= 149.5,  -4.7, ROT=   0.5,   4.7

2025-10-25T04:05:58.455Z,1761365158.455 [DAT](INFO): got valid direction response:
 04:05:57.6453 LVL= 15088, 30945, 17650, 29539, AGC= 57, IDX= 498, 0.05,-1.710,-3.083,-1.704,-2.030, PHS= 0.409,-1.006, 0.323, RAW= 146.9,   4.0, CAL= 149.5,  -4.7, ROT=   0.5,   4.7

2025-10-25T04:05:58.455Z,1761365158.455 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-10-25T04:05:58.456Z,1761365158.456 [DAT](INFO): direction in FSK: [0.996599,0.008697,-0.081939]
2025-10-25T04:05:58.456Z,1761365158.456 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:58.474Z,1761365158.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.573225 m,
      bearing: 333.226181 deg,
      lat: 36.779458 deg,
      lon: -121.859733 deg,
      deltaT: 0.493069 s,
      deltaX: -0.198908 m,
      approachRate: -0.403408 m/s,
      posRepo size: 4

2025-10-25T04:05:58.475Z,1761365158.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.57 m.
2025-10-25T04:05:58.480Z,1761365158.480 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.996319
2025-10-25T04:05:58.482Z,1761365158.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.573225 m,
      nav range: 26.312323 m,
      bearing: 332.541246 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.266141 deg/s,
      cmd heading: 329.624793 deg,
      new cmd heading: 329.156278 deg.

2025-10-25T04:05:58.483Z,1761365158.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744861 target range: 26.573225 and range: 26.70 m.
2025-10-25T04:05:58.670Z,1761365158.670 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.186903
2025-10-25T04:05:58.774Z,1761365158.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886867,0.458421,-0.057598],[-0.461627,0.884368,-0.069241],[0.019196,0.087996,0.995936]]
2025-10-25T04:05:58.926Z,1761365158.926 [DAT](INFO): DAT read: Rx Time:04:05:58.1453 

2025-10-25T04:05:58.929Z,1761365158.929 [DAT](INFO): Rx dataTimestamp_ set to:1761365158.927133
2025-10-25T04:05:58.931Z,1761365158.931 [DAT](INFO): DAT read: Bearing   0.4,   3.6 (Local)

2025-10-25T04:05:58.931Z,1761365158.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,   3.6 (Local)

2025-10-25T04:05:58.935Z,1761365158.935 [DAT](INFO): DAT read: Range 10 to 50 :    26.3 m (trip time 17.5 ms) speed 0.4

2025-10-25T04:05:58.939Z,1761365158.939 [DAT](INFO): DAT read: 04:05:58.1453 LVL= 16320, 31153, 19698, 31411, AGC= 57, IDX= 498,-0.34,-1.739,-3.097,-1.719,-2.026, PHS= 0.375,-1.024, 0.304, RAW= 147.4,   5.1, CAL= 149.6,  -3.6, ROT=   0.4,   3.6

2025-10-25T04:05:58.953Z,1761365158.953 [DAT](INFO): got valid direction response:
 04:05:58.1453 LVL= 16320, 31153, 19698, 31411, AGC= 57, IDX= 498,-0.34,-1.739,-3.097,-1.719,-2.026, PHS= 0.375,-1.024, 0.304, RAW= 147.4,   5.1, CAL= 149.6,  -3.6, ROT=   0.4,   3.6

2025-10-25T04:05:58.954Z,1761365158.954 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-10-25T04:05:58.959Z,1761365158.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.510765 s,
      deltaX: -0.400002 m,
      approachRate: -0.783142 m/s,
      rangeRepo size: 4

2025-10-25T04:05:58.965Z,1761365158.965 [DAT](INFO): direction in FSK: [0.998002,0.006967,-0.062791]
2025-10-25T04:05:58.965Z,1761365158.965 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:58.970Z,1761365158.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.175123 m,
      bearing: 333.413724 deg,
      lat: 36.779460 deg,
      lon: -121.859731 deg,
      deltaT: 0.510765 s,
      deltaX: -0.398102 m,
      approachRate: -0.779423 m/s,
      posRepo size: 4

2025-10-25T04:05:58.971Z,1761365158.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.18 m.
2025-10-25T04:05:58.978Z,1761365158.978 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.494764
2025-10-25T04:05:58.980Z,1761365158.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.175123 m,
      nav range: 26.117043 m,
      bearing: 332.948276 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.266141 deg/s,
      cmd heading: 329.156269 deg,
      new cmd heading: 328.759160 deg.

2025-10-25T04:05:58.985Z,1761365158.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737930 target range: 26.175123 and range: 26.30 m.
2025-10-25T04:05:59.175Z,1761365159.175 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.692200
2025-10-25T04:05:59.357Z,1761365159.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885928,0.460458,-0.055759],[-0.463444,0.883641,-0.066323],[0.018732,0.084598,0.996239]]
2025-10-25T04:05:59.432Z,1761365159.432 [DAT](INFO): DAT read: Rx Time:04:05:58.6451 

2025-10-25T04:05:59.433Z,1761365159.433 [DAT](INFO): Rx dataTimestamp_ set to:1761365159.432505
2025-10-25T04:05:59.436Z,1761365159.436 [DAT](INFO): DAT read: Bearing   0.5,   5.1 (Local)

2025-10-25T04:05:59.437Z,1761365159.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,   5.1 (Local)

2025-10-25T04:05:59.441Z,1761365159.441 [DAT](INFO): DAT read: Range 10 to 50 :    26.0 m (trip time 17.3 ms) speed 0.4

2025-10-25T04:05:59.470Z,1761365159.470 [DAT](INFO): DAT read: 04:05:58.6451 LVL= 14432, 30097, 17602, 27955, AGC= 57, IDX= 495, 0.23,-1.578,-2.981,-1.576,-1.917, PHS= 0.427,-1.017, 0.338, RAW= 146.8,   3.6, CAL= 149.5,  -5.1, ROT=   0.5,   5.1

2025-10-25T04:05:59.471Z,1761365159.471 [DAT](INFO): got valid direction response:
 04:05:58.6451 LVL= 14432, 30097, 17602, 27955, AGC= 57, IDX= 495, 0.23,-1.578,-2.981,-1.576,-1.917, PHS= 0.427,-1.017, 0.338, RAW= 146.8,   3.6, CAL= 149.5,  -5.1, ROT=   0.5,   5.1

2025-10-25T04:05:59.471Z,1761365159.471 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-10-25T04:05:59.472Z,1761365159.472 [DAT](INFO): direction in FSK: [0.996003,0.008692,-0.088894]
2025-10-25T04:05:59.481Z,1761365159.481 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:59.493Z,1761365159.493 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.009951
2025-10-25T04:05:59.529Z,1761365159.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 1.006927 s,
      deltaX: -0.299999 m,
      approachRate: -0.297935 m/s,
      rangeRepo size: 4

2025-10-25T04:05:59.531Z,1761365159.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.876616 m,
      bearing: 333.314651 deg,
      lat: 36.779460 deg,
      lon: -121.859731 deg,
      deltaT: 1.006927 s,
      deltaX: -0.298508 m,
      approachRate: -0.296454 m/s,
      posRepo size: 4

2025-10-25T04:05:59.532Z,1761365159.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-10-25T04:05:59.543Z,1761365159.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.876616 m,
      nav range: 25.879438 m,
      bearing: 333.030687 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.266141 deg/s,
      cmd heading: 328.759162 deg,
      new cmd heading: 328.297659 deg.

2025-10-25T04:05:59.544Z,1761365159.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729875 target range: 25.876616 and range: 26.00 m.
2025-10-25T04:05:59.679Z,1761365159.679 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.196079
2025-10-25T04:05:59.853Z,1761365159.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884277,0.463738,-0.054783],[-0.466612,0.882057,-0.065180],[0.018095,0.083200,0.996369]]
2025-10-25T04:05:59.875Z,1761365159.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:05:59.884Z,1761365159.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-10-25T04:05:59.910Z,1761365159.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.876616 m,
      nav range: 25.714954 m,
      bearing: 332.968228 deg,
      approach rate: -0.462066 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 328.297660 deg,
      new cmd heading: 328.109086 deg.

2025-10-25T04:05:59.919Z,1761365159.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726584 target range: 25.876616 and range: 26.00 m.
2025-10-25T04:05:59.932Z,1761365159.932 [DAT](INFO): DAT read: Rx Time:04:05:59.1451 

2025-10-25T04:05:59.932Z,1761365159.932 [DAT](INFO): Rx dataTimestamp_ set to:1761365159.931744
2025-10-25T04:05:59.933Z,1761365159.933 [DAT](INFO): DAT read: Bearing   0.6,   4.1 (Local)

2025-10-25T04:05:59.934Z,1761365159.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,   4.1 (Local)

2025-10-25T04:05:59.936Z,1761365159.936 [DAT](INFO): DAT read: Range 10 to 50 :    26.0 m (trip time 17.3 ms) speed 0.4

2025-10-25T04:05:59.941Z,1761365159.941 [DAT](INFO): DAT read: 04:05:59.1451 LVL= 15184, 32753, 17074, 30547, AGC= 57, IDX= 511,-0.07,-1.965, 2.946,-1.956,-2.270, PHS= 0.393,-1.020, 0.311, RAW= 147.0,   4.7, CAL= 149.4,  -4.1, ROT=   0.6,   4.1

2025-10-25T04:05:59.942Z,1761365159.942 [DAT](INFO): got valid direction response:
 04:05:59.1451 LVL= 15184, 32753, 17074, 30547, AGC= 57, IDX= 511,-0.07,-1.965, 2.946,-1.956,-2.270, PHS= 0.393,-1.020, 0.311, RAW= 147.0,   4.7, CAL= 149.4,  -4.1, ROT=   0.6,   4.1

2025-10-25T04:05:59.942Z,1761365159.942 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-10-25T04:05:59.943Z,1761365159.943 [DAT](INFO): direction in FSK: [0.997386,0.010445,-0.071497]
2025-10-25T04:05:59.944Z,1761365159.944 [DAT](INFO): publishing direction and range info
2025-10-25T04:05:59.952Z,1761365159.952 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.469398
2025-10-25T04:06:00.182Z,1761365160.182 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.698807
2025-10-25T04:06:00.247Z,1761365160.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883295,0.465567,-0.055112],[-0.468476,0.881019,-0.065848],[0.017898,0.083982,0.996306]]
2025-10-25T04:06:00.282Z,1761365160.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.499239 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:00.285Z,1761365160.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.876663 m,
      bearing: 333.001468 deg,
      lat: 36.779461 deg,
      lon: -121.859731 deg,
      deltaT: 0.499239 s,
      deltaX: 0.000048 m,
      approachRate: 0.000096 m/s,
      posRepo size: 4

2025-10-25T04:06:00.286Z,1761365160.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.88 m.
2025-10-25T04:06:00.291Z,1761365160.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.876663 m,
      nav range: 25.550230 m,
      bearing: 332.917664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 328.109092 deg,
      new cmd heading: 327.898781 deg.

2025-10-25T04:06:00.293Z,1761365160.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722913 target range: 25.876663 and range: 26.00 m.
2025-10-25T04:06:00.435Z,1761365160.435 [DAT](INFO): DAT read: Rx Time:04:05:59.6449 

2025-10-25T04:06:00.436Z,1761365160.436 [DAT](INFO): Rx dataTimestamp_ set to:1761365160.435479
2025-10-25T04:06:00.438Z,1761365160.438 [DAT](INFO): DAT read: Bearing   0.8,   4.3 (Local)

2025-10-25T04:06:00.439Z,1761365160.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,   4.3 (Local)

2025-10-25T04:06:00.442Z,1761365160.442 [DAT](INFO): DAT read: Range 10 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-25T04:06:00.450Z,1761365160.450 [DAT](INFO): DAT read: 04:05:59.6449 LVL= 16352, 29025, 19506, 29315, AGC= 56, IDX= 508, 0.44,-2.089, 2.791,-2.090,-2.411, PHS= 0.410,-1.035, 0.318, RAW= 146.7,   4.4, CAL= 149.2,  -4.3, ROT=   0.8,   4.3

2025-10-25T04:06:00.451Z,1761365160.451 [DAT](INFO): got valid direction response:
 04:05:59.6449 LVL= 16352, 29025, 19506, 29315, AGC= 56, IDX= 508, 0.44,-2.089, 2.791,-2.090,-2.411, PHS= 0.410,-1.035, 0.318, RAW= 146.7,   4.4, CAL= 149.2,  -4.3, ROT=   0.8,   4.3

2025-10-25T04:06:00.452Z,1761365160.452 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-10-25T04:06:00.456Z,1761365160.456 [DAT](INFO): direction in FSK: [0.997088,0.013923,-0.074979]
2025-10-25T04:06:00.456Z,1761365160.456 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:00.460Z,1761365160.460 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.976969
2025-10-25T04:06:00.668Z,1761365160.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882046,0.467979,-0.054684],[-0.470842,0.879771,-0.065656],[0.017384,0.083659,0.996343]]
2025-10-25T04:06:00.690Z,1761365160.690 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.207165
2025-10-25T04:06:00.778Z,1761365160.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503735 s,
      deltaX: -0.299999 m,
      approachRate: -0.595550 m/s,
      rangeRepo size: 4

2025-10-25T04:06:00.785Z,1761365160.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.578087 m,
      bearing: 333.062688 deg,
      lat: 36.779461 deg,
      lon: -121.859731 deg,
      deltaT: 0.503735 s,
      deltaX: -0.298576 m,
      approachRate: -0.592725 m/s,
      posRepo size: 4

2025-10-25T04:06:00.786Z,1761365160.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-10-25T04:06:00.793Z,1761365160.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.578087 m,
      nav range: 25.405869 m,
      bearing: 332.911641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 327.898777 deg,
      new cmd heading: 327.637963 deg.

2025-10-25T04:06:00.794Z,1761365160.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718361 target range: 25.578087 and range: 25.70 m.
2025-10-25T04:06:00.942Z,1761365160.942 [DAT](INFO): DAT read: Rx Time:04:06:00.1449 

2025-10-25T04:06:00.943Z,1761365160.943 [DAT](INFO): Rx dataTimestamp_ set to:1761365160.942617
2025-10-25T04:06:00.946Z,1761365160.946 [DAT](INFO): DAT read: Bearing   1.1,   4.7 (Local)

2025-10-25T04:06:00.946Z,1761365160.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,   4.7 (Local)

2025-10-25T04:06:00.948Z,1761365160.948 [DAT](INFO): DAT read: Range 10 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-10-25T04:06:00.954Z,1761365160.954 [DAT](INFO): DAT read: 04:06:00.1449 LVL= 15664, 28993, 17874, 29635, AGC= 56, IDX= 508, 0.06,-0.782,-2.204,-0.799,-1.124, PHS= 0.430,-1.032, 0.323, RAW= 146.2,   4.0, CAL= 148.9,  -4.7, ROT=   1.1,   4.7

2025-10-25T04:06:00.955Z,1761365160.955 [DAT](INFO): got valid direction response:
 04:06:00.1449 LVL= 15664, 28993, 17874, 29635, AGC= 56, IDX= 508, 0.06,-0.782,-2.204,-0.799,-1.124, PHS= 0.430,-1.032, 0.323, RAW= 146.2,   4.0, CAL= 148.9,  -4.7, ROT=   1.1,   4.7

2025-10-25T04:06:00.955Z,1761365160.955 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-25T04:06:00.956Z,1761365160.956 [DAT](INFO): direction in FSK: [0.996454,0.019133,-0.081939]
2025-10-25T04:06:00.956Z,1761365160.956 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:00.960Z,1761365160.960 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.477085
2025-10-25T04:06:01.088Z,1761365161.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880312,0.471256,-0.054476],[-0.474091,0.878035,-0.065511],[0.016960,0.083497,0.996364]]
2025-10-25T04:06:01.153Z,1761365161.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.507138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:01.155Z,1761365161.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.578087 m,
      bearing: 333.182942 deg,
      lat: 36.779463 deg,
      lon: -121.859731 deg,
      deltaT: 0.507138 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:01.156Z,1761365161.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.58 m.
2025-10-25T04:06:01.159Z,1761365161.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.578087 m,
      nav range: 25.362839 m,
      bearing: 333.025914 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 327.637973 deg,
      new cmd heading: 327.441105 deg.

2025-10-25T04:06:01.160Z,1761365161.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714925 target range: 25.578087 and range: 25.70 m.
2025-10-25T04:06:01.194Z,1761365161.194 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.710901
2025-10-25T04:06:01.447Z,1761365161.447 [DAT](INFO): DAT read: Rx Time:04:06:00.6446 

2025-10-25T04:06:01.448Z,1761365161.448 [DAT](INFO): Rx dataTimestamp_ set to:1761365161.447308
2025-10-25T04:06:01.449Z,1761365161.449 [DAT](INFO): DAT read: Bearing   1.6,   3.6 (Local)

2025-10-25T04:06:01.449Z,1761365161.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,   3.6 (Local)

2025-10-25T04:06:01.451Z,1761365161.451 [DAT](INFO): DAT read: Range 10 to 50 :    25.2 m (trip time 16.8 ms) speed 0.4

2025-10-25T04:06:01.456Z,1761365161.456 [DAT](INFO): DAT read: 04:06:00.6446 LVL= 15968, 27089, 18162, 29683, AGC= 56, IDX= 506,-0.40,-2.856, 2.030,-2.877, 3.113, PHS= 0.402,-1.036, 0.290, RAW= 146.0,   5.0, CAL= 148.4,  -3.6, ROT=   1.6,   3.6

2025-10-25T04:06:01.457Z,1761365161.457 [DAT](INFO): got valid direction response:
 04:06:00.6446 LVL= 15968, 27089, 18162, 29683, AGC= 56, IDX= 506,-0.40,-2.856, 2.030,-2.877, 3.113, PHS= 0.402,-1.036, 0.290, RAW= 146.0,   5.0, CAL= 148.4,  -3.6, ROT=   1.6,   3.6

2025-10-25T04:06:01.458Z,1761365161.458 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-25T04:06:01.459Z,1761365161.459 [DAT](INFO): direction in FSK: [0.997638,0.027867,-0.062791]
2025-10-25T04:06:01.459Z,1761365161.459 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:01.463Z,1761365161.463 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.980501
2025-10-25T04:06:01.492Z,1761365161.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878555,0.474483,-0.054835],[-0.477352,0.876208,-0.066285],[0.016595,0.084411,0.996293]]
2025-10-25T04:06:01.598Z,1761365161.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504691 s,
      deltaX: -0.500000 m,
      approachRate: -0.990705 m/s,
      rangeRepo size: 4

2025-10-25T04:06:01.600Z,1761365161.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.080469 m,
      bearing: 333.379907 deg,
      lat: 36.779463 deg,
      lon: -121.859731 deg,
      deltaT: 0.504691 s,
      deltaX: -0.497618 m,
      approachRate: -0.985985 m/s,
      posRepo size: 4

2025-10-25T04:06:01.600Z,1761365161.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m.
2025-10-25T04:06:01.615Z,1761365161.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.080469 m,
      nav range: 25.136745 m,
      bearing: 333.017585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 327.441099 deg,
      new cmd heading: 327.203369 deg.

2025-10-25T04:06:01.616Z,1761365161.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710776 target range: 25.080469 and range: 25.20 m.
2025-10-25T04:06:01.699Z,1761365161.699 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.215759
2025-10-25T04:06:01.943Z,1761365161.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876430,0.478472,-0.054176],[-0.481255,0.874165,-0.065034],[0.016242,0.083070,0.996411]]
2025-10-25T04:06:01.950Z,1761365161.950 [DAT](INFO): DAT read: Rx Time:04:06:01.1445 

2025-10-25T04:06:01.951Z,1761365161.951 [DAT](INFO): Rx dataTimestamp_ set to:1761365161.950486
2025-10-25T04:06:01.952Z,1761365161.952 [DAT](INFO): DAT read: Bearing   1.9,   4.0 (Local)

2025-10-25T04:06:01.952Z,1761365161.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   4.0 (Local)

2025-10-25T04:06:01.955Z,1761365161.955 [DAT](INFO): DAT read: Range 10 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-10-25T04:06:01.960Z,1761365161.960 [DAT](INFO): DAT read: 04:06:01.1445 LVL= 15504, 27489, 17394, 27571, AGC= 56, IDX= 504, 0.08,-1.947, 2.927,-1.983,-2.280, PHS= 0.421,-1.030, 0.294, RAW= 145.4,   4.6, CAL= 148.1,  -4.0, ROT=   1.9,   4.0

2025-10-25T04:06:01.962Z,1761365161.962 [DAT](INFO): got valid direction response:
 04:06:01.1445 LVL= 15504, 27489, 17394, 27571, AGC= 56, IDX= 504, 0.08,-1.947, 2.927,-1.983,-2.280, PHS= 0.421,-1.030, 0.294, RAW= 145.4,   4.6, CAL= 148.1,  -4.0, ROT=   1.9,   4.0

2025-10-25T04:06:01.962Z,1761365161.962 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-10-25T04:06:01.963Z,1761365161.963 [DAT](INFO): direction in FSK: [0.997016,0.033074,-0.069756]
2025-10-25T04:06:01.963Z,1761365161.963 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:01.975Z,1761365161.975 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.492224
2025-10-25T04:06:02.010Z,1761365162.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503178 s,
      deltaX: -0.100000 m,
      approachRate: -0.198738 m/s,
      rangeRepo size: 4

2025-10-25T04:06:02.021Z,1761365162.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.980944 m,
      bearing: 333.452369 deg,
      lat: 36.779463 deg,
      lon: -121.859731 deg,
      deltaT: 0.503178 s,
      deltaX: -0.099525 m,
      approachRate: -0.197794 m/s,
      posRepo size: 4

2025-10-25T04:06:02.022Z,1761365162.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m.
2025-10-25T04:06:02.029Z,1761365162.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.980944 m,
      nav range: 24.961069 m,
      bearing: 333.054501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 327.203381 deg,
      new cmd heading: 326.982645 deg.

2025-10-25T04:06:02.030Z,1761365162.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706924 target range: 24.980944 and range: 25.10 m.
2025-10-25T04:06:02.203Z,1761365162.203 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.719902
2025-10-25T04:06:02.332Z,1761365162.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874725,0.481671,-0.053379],[-0.484358,0.872551,-0.063658],[0.015914,0.081538,0.996543]]
2025-10-25T04:06:02.454Z,1761365162.454 [DAT](INFO): DAT read: Rx Time:04:06:01.6442 

2025-10-25T04:06:02.455Z,1761365162.455 [DAT](INFO): Rx dataTimestamp_ set to:1761365162.454428
2025-10-25T04:06:02.456Z,1761365162.456 [DAT](INFO): DAT read: Bearing   2.6,   3.0 (Local)

2025-10-25T04:06:02.456Z,1761365162.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,   3.0 (Local)

2025-10-25T04:06:02.458Z,1761365162.458 [DAT](INFO): DAT read: Range 10 to 50 :    24.8 m (trip time 16.5 ms) speed 0.4

2025-10-25T04:06:02.464Z,1761365162.464 [DAT](INFO): DAT read: 04:06:01.6442 LVL= 14576, 26993, 17218, 27187, AGC= 56, IDX= 502,-0.44, 2.241, 0.840, 2.186, 1.923, PHS= 0.406,-1.035, 0.261, RAW= 144.7,   5.4, CAL= 147.4,  -3.0, ROT=   2.6,   3.0

2025-10-25T04:06:02.465Z,1761365162.465 [DAT](INFO): got valid direction response:
 04:06:01.6442 LVL= 14576, 26993, 17218, 27187, AGC= 56, IDX= 502,-0.44, 2.241, 0.840, 2.186, 1.923, PHS= 0.406,-1.035, 0.261, RAW= 144.7,   5.4, CAL= 147.4,  -3.0, ROT=   2.6,   3.0

2025-10-25T04:06:02.466Z,1761365162.466 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-10-25T04:06:02.467Z,1761365162.467 [DAT](INFO): direction in FSK: [0.997602,0.045301,-0.052336]
2025-10-25T04:06:02.467Z,1761365162.467 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:02.471Z,1761365162.471 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.987844
2025-10-25T04:06:02.626Z,1761365162.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.503942 s,
      deltaX: -0.300001 m,
      approachRate: -0.595309 m/s,
      rangeRepo size: 4

2025-10-25T04:06:02.637Z,1761365162.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.682329 m,
      bearing: 333.859650 deg,
      lat: 36.779464 deg,
      lon: -121.859729 deg,
      deltaT: 0.503942 s,
      deltaX: -0.298615 m,
      approachRate: -0.592557 m/s,
      posRepo size: 4

2025-10-25T04:06:02.646Z,1761365162.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m.
2025-10-25T04:06:02.649Z,1761365162.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.682329 m,
      nav range: 24.648355 m,
      bearing: 333.502613 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 326.982657 deg,
      new cmd heading: 326.667147 deg.

2025-10-25T04:06:02.650Z,1761365162.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701417 target range: 24.682329 and range: 24.80 m.
2025-10-25T04:06:02.707Z,1761365162.707 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.223925
2025-10-25T04:06:02.959Z,1761365162.959 [DAT](INFO): DAT read: Rx Time:04:06:02.1441 

2025-10-25T04:06:02.959Z,1761365162.959 [DAT](INFO): Rx dataTimestamp_ set to:1761365162.958748
2025-10-25T04:06:02.961Z,1761365162.961 [DAT](INFO): DAT read: Bearing   3.7,   3.3 (Local)

2025-10-25T04:06:02.962Z,1761365162.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,   3.3 (Local)

2025-10-25T04:06:02.964Z,1761365162.964 [DAT](INFO): DAT read: Range 10 to 50 :    24.6 m (trip time 16.4 ms) speed 0.4

2025-10-25T04:06:02.970Z,1761365162.970 [DAT](INFO): DAT read: 04:06:02.1441 LVL= 15824, 29489, 17170, 27443, AGC= 55, IDX= 501, 0.00,-2.171, 2.735,-2.263,-2.505, PHS= 0.423,-0.996, 0.240, RAW= 143.2,   5.1, CAL= 146.3,  -3.3, ROT=   3.7,   3.3

2025-10-25T04:06:02.971Z,1761365162.971 [DAT](INFO): got valid direction response:
 04:06:02.1441 LVL= 15824, 29489, 17170, 27443, AGC= 55, IDX= 501, 0.00,-2.171, 2.735,-2.263,-2.505, PHS= 0.423,-0.996, 0.240, RAW= 143.2,   5.1, CAL= 146.3,  -3.3, ROT=   3.7,   3.3

2025-10-25T04:06:02.971Z,1761365162.971 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-10-25T04:06:02.972Z,1761365162.972 [DAT](INFO): direction in FSK: [0.996261,0.064425,-0.057564]
2025-10-25T04:06:02.972Z,1761365162.972 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:02.981Z,1761365162.981 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.493509
2025-10-25T04:06:03.053Z,1761365163.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.504320 s,
      deltaX: -0.199999 m,
      approachRate: -0.396571 m/s,
      rangeRepo size: 4

2025-10-25T04:06:03.055Z,1761365163.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.483278 m,
      bearing: 334.979255 deg,
      lat: 36.779464 deg,
      lon: -121.859729 deg,
      deltaT: 0.504320 s,
      deltaX: -0.199051 m,
      approachRate: -0.394692 m/s,
      posRepo size: 4

2025-10-25T04:06:03.056Z,1761365163.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m.
2025-10-25T04:06:03.067Z,1761365163.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.483278 m,
      nav range: 24.471457 m,
      bearing: 333.650512 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 326.667157 deg,
      new cmd heading: 326.438892 deg.

2025-10-25T04:06:03.068Z,1761365163.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697433 target range: 24.483278 and range: 24.60 m.
2025-10-25T04:06:03.210Z,1761365163.210 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.726994
2025-10-25T04:06:03.406Z,1761365163.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868020,0.493837,-0.051633],[-0.496284,0.866153,-0.058998],[0.015587,0.076836,0.996922]]
2025-10-25T04:06:03.463Z,1761365163.463 [DAT](INFO): DAT read: Rx Time:04:06:02.6439 

2025-10-25T04:06:03.463Z,1761365163.463 [DAT](INFO): Rx dataTimestamp_ set to:1761365163.463200
2025-10-25T04:06:03.465Z,1761365163.465 [DAT](INFO): DAT read: Bearing   4.1,   4.0 (Local)

2025-10-25T04:06:03.465Z,1761365163.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,   4.0 (Local)

2025-10-25T04:06:03.467Z,1761365163.467 [DAT](INFO): DAT read: Range 10 to 50 :    24.3 m (trip time 16.2 ms) speed 0.4

2025-10-25T04:06:03.472Z,1761365163.472 [DAT](INFO): DAT read: 04:06:02.6439 LVL= 15728, 30801, 18978, 31219, AGC= 57, IDX= 498, 0.28,-1.847, 2.999,-1.963,-2.221, PHS= 0.462,-1.016, 0.255, RAW= 142.6,   4.4, CAL= 145.9,  -4.0, ROT=   4.1,   4.0

2025-10-25T04:06:03.474Z,1761365163.474 [DAT](INFO): got valid direction response:
 04:06:02.6439 LVL= 15728, 30801, 18978, 31219, AGC= 57, IDX= 498, 0.28,-1.847, 2.999,-1.963,-2.221, PHS= 0.462,-1.016, 0.255, RAW= 142.6,   4.4, CAL= 145.9,  -4.0, ROT=   4.1,   4.0

2025-10-25T04:06:03.474Z,1761365163.474 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-10-25T04:06:03.475Z,1761365163.475 [DAT](INFO): direction in FSK: [0.995011,0.071323,-0.069756]
2025-10-25T04:06:03.475Z,1761365163.475 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:03.487Z,1761365163.487 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.003954
2025-10-25T04:06:03.564Z,1761365163.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.504452 s,
      deltaX: -0.300001 m,
      approachRate: -0.594707 m/s,
      rangeRepo size: 4

2025-10-25T04:06:03.567Z,1761365163.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.184694 m,
      bearing: 334.632628 deg,
      lat: 36.779465 deg,
      lon: -121.859728 deg,
      deltaT: 0.504452 s,
      deltaX: -0.298584 m,
      approachRate: -0.591898 m/s,
      posRepo size: 4

2025-10-25T04:06:03.567Z,1761365163.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m.
2025-10-25T04:06:03.579Z,1761365163.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.184694 m,
      nav range: 24.173670 m,
      bearing: 333.993802 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.176580 deg/s,
      cmd heading: 326.438892 deg,
      new cmd heading: 326.161394 deg.

2025-10-25T04:06:03.585Z,1761365163.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692590 target range: 24.184694 and range: 24.30 m.
2025-10-25T04:06:03.714Z,1761365163.714 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.230873
2025-10-25T04:06:03.839Z,1761365163.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865872,0.497524,-0.052302],[-0.500020,0.863983,-0.059284],[0.015693,0.077485,0.996870]]
2025-10-25T04:06:03.919Z,1761365163.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:03.941Z,1761365163.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m.
2025-10-25T04:06:03.977Z,1761365163.977 [DAT](INFO): DAT read: Rx Time:04:06:03.1438 

2025-10-25T04:06:03.977Z,1761365163.977 [DAT](INFO): Rx dataTimestamp_ set to:1761365163.976955
2025-10-25T04:06:03.979Z,1761365163.979 [DAT](INFO): DAT read: Bearing   5.6,   1.8 (Local)

2025-10-25T04:06:03.980Z,1761365163.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,   1.8 (Local)

2025-10-25T04:06:03.982Z,1761365163.982 [DAT](INFO): DAT read: Range 10 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-10-25T04:06:03.987Z,1761365163.987 [DAT](INFO): DAT read: 04:06:03.1438 LVL= 16688, 28433, 18098, 30531, AGC= 57, IDX= 498,-0.33,-1.998, 2.878,-2.150,-2.338, PHS= 0.428,-1.019, 0.185, RAW= 141.0,   6.1, CAL= 144.4,  -1.8, ROT=   5.6,   1.8

2025-10-25T04:06:03.988Z,1761365163.988 [DAT](INFO): got valid direction response:
 04:06:03.1438 LVL= 16688, 28433, 18098, 30531, AGC= 57, IDX= 498,-0.33,-1.998, 2.878,-2.150,-2.338, PHS= 0.428,-1.019, 0.185, RAW= 141.0,   6.1, CAL= 144.4,  -1.8, ROT=   5.6,   1.8

2025-10-25T04:06:03.988Z,1761365163.988 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-10-25T04:06:03.989Z,1761365163.989 [DAT](INFO): direction in FSK: [0.994736,0.097535,-0.031411]
2025-10-25T04:06:03.990Z,1761365163.990 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:03.993Z,1761365163.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.184694 m,
      nav range: 23.974585 m,
      bearing: 334.065899 deg,
      approach rate: -0.528001 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 326.161395 deg,
      new cmd heading: 326.379479 deg.

2025-10-25T04:06:03.994Z,1761365163.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696396 target range: 24.184694 and range: 24.30 m.
2025-10-25T04:06:04.001Z,1761365164.001 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.518595
2025-10-25T04:06:04.218Z,1761365164.218 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.734814
2025-10-25T04:06:04.244Z,1761365164.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863110,0.502360,-0.051732],[-0.504774,0.861333,-0.057532],[0.015656,0.075770,0.997002]]
2025-10-25T04:06:04.364Z,1761365164.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.513755 s,
      deltaX: -0.099998 m,
      approachRate: -0.194642 m/s,
      rangeRepo size: 4

2025-10-25T04:06:04.436Z,1761365164.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.085154 m,
      bearing: 335.397900 deg,
      lat: 36.779465 deg,
      lon: -121.859725 deg,
      deltaT: 0.513755 s,
      deltaX: -0.099541 m,
      approachRate: -0.193751 m/s,
      posRepo size: 4

2025-10-25T04:06:04.443Z,1761365164.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.09 m.
2025-10-25T04:06:04.450Z,1761365164.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.085154 m,
      nav range: 23.731798 m,
      bearing: 334.802792 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 326.379469 deg,
      new cmd heading: 326.626424 deg.

2025-10-25T04:06:04.451Z,1761365164.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700706 target range: 24.085154 and range: 24.20 m.
2025-10-25T04:06:04.470Z,1761365164.470 [DAT](INFO): DAT read: Rx Time:04:06:03.6435 

2025-10-25T04:06:04.471Z,1761365164.471 [DAT](INFO): Rx dataTimestamp_ set to:1761365164.470623
2025-10-25T04:06:04.472Z,1761365164.472 [DAT](INFO): DAT read: Bearing   7.4,   1.1 (Local)

2025-10-25T04:06:04.473Z,1761365164.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.4,   1.1 (Local)

2025-10-25T04:06:04.475Z,1761365164.475 [DAT](INFO): DAT read: Range 10 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-10-25T04:06:04.485Z,1761365164.485 [DAT](INFO): DAT read: 04:06:03.6435 LVL= 16112, 29601, 17298, 29491, AGC= 56, IDX= 495,-0.08,-3.022, 1.883, 3.056, 2.913, PHS= 0.436,-0.984, 0.140, RAW= 138.6,   6.3, CAL= 142.6,  -1.1, ROT=   7.4,   1.1

2025-10-25T04:06:04.486Z,1761365164.486 [DAT](INFO): got valid direction response:
 04:06:03.6435 LVL= 16112, 29601, 17298, 29491, AGC= 56, IDX= 495,-0.08,-3.022, 1.883, 3.056, 2.913, PHS= 0.436,-0.984, 0.140, RAW= 138.6,   6.3, CAL= 142.6,  -1.1, ROT=   7.4,   1.1

2025-10-25T04:06:04.493Z,1761365164.493 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-10-25T04:06:04.495Z,1761365164.495 [DAT](INFO): direction in FSK: [0.991488,0.128772,-0.019197]
2025-10-25T04:06:04.496Z,1761365164.496 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:04.500Z,1761365164.500 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.016685
2025-10-25T04:06:04.723Z,1761365164.723 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.239626
2025-10-25T04:06:04.770Z,1761365164.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860598,0.506585,-0.052371],[-0.509045,0.858790,-0.057907],[0.015641,0.076494,0.996947]]
2025-10-25T04:06:04.888Z,1761365164.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.493668 s,
      deltaX: -0.500000 m,
      approachRate: -1.012826 m/s,
      rangeRepo size: 4

2025-10-25T04:06:04.904Z,1761365164.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.587526 m,
      bearing: 336.857457 deg,
      lat: 36.779467 deg,
      lon: -121.859724 deg,
      deltaT: 0.493668 s,
      deltaX: -0.497627 m,
      approachRate: -1.008020 m/s,
      posRepo size: 4

2025-10-25T04:06:04.907Z,1761365164.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.59 m.
2025-10-25T04:06:04.926Z,1761365164.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.587526 m,
      nav range: 23.518471 m,
      bearing: 335.247278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 326.626422 deg,
      new cmd heading: 326.925202 deg.

2025-10-25T04:06:04.933Z,1761365164.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705921 target range: 23.587526 and range: 23.70 m.
2025-10-25T04:06:04.976Z,1761365164.976 [DAT](INFO): DAT read: Rx Time:04:06:04.1435 

2025-10-25T04:06:04.977Z,1761365164.977 [DAT](INFO): Rx dataTimestamp_ set to:1761365164.976410
2025-10-25T04:06:04.979Z,1761365164.979 [DAT](INFO): DAT read: Bearing   7.9,   1.3 (Local)

2025-10-25T04:06:04.980Z,1761365164.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9,   1.3 (Local)

2025-10-25T04:06:04.983Z,1761365164.983 [DAT](INFO): DAT read: Range 10 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-10-25T04:06:04.991Z,1761365164.991 [DAT](INFO): DAT read: 04:06:04.1435 LVL= 16928, 29729, 18274, 31171, AGC= 57, IDX= 510, 0.07,-0.828,-2.248,-1.061,-1.201, PHS= 0.461,-1.000, 0.137, RAW= 137.8,   6.1, CAL= 142.1,  -1.3, ROT=   7.9,   1.3

2025-10-25T04:06:04.994Z,1761365164.994 [DAT](INFO): got valid direction response:
 04:06:04.1435 LVL= 16928, 29729, 18274, 31171, AGC= 57, IDX= 510, 0.07,-0.828,-2.248,-1.061,-1.201, PHS= 0.461,-1.000, 0.137, RAW= 137.8,   6.1, CAL= 142.1,  -1.3, ROT=   7.9,   1.3

2025-10-25T04:06:04.995Z,1761365164.995 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-10-25T04:06:04.996Z,1761365164.996 [DAT](INFO): direction in FSK: [0.990255,0.137409,-0.022687]
2025-10-25T04:06:04.997Z,1761365164.997 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:05.033Z,1761365165.033 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.545132
2025-10-25T04:06:05.226Z,1761365165.226 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.742790
2025-10-25T04:06:05.266Z,1761365165.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.505787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:05.274Z,1761365165.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.587488 m,
      bearing: 337.370739 deg,
      lat: 36.779469 deg,
      lon: -121.859723 deg,
      deltaT: 0.505787 s,
      deltaX: -0.000038 m,
      approachRate: -0.000075 m/s,
      posRepo size: 4

2025-10-25T04:06:05.275Z,1761365165.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.59 m.
2025-10-25T04:06:05.284Z,1761365165.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.587488 m,
      nav range: 23.559380 m,
      bearing: 335.826072 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 326.925201 deg,
      new cmd heading: 327.148148 deg.

2025-10-25T04:06:05.290Z,1761365165.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709812 target range: 23.587488 and range: 23.70 m.
2025-10-25T04:06:05.479Z,1761365165.479 [DAT](INFO): DAT read: Rx Time:04:06:04.6432 

2025-10-25T04:06:05.480Z,1761365165.480 [DAT](INFO): Rx dataTimestamp_ set to:1761365165.479672
2025-10-25T04:06:05.481Z,1761365165.481 [DAT](INFO): DAT read: Bearing   9.1,   1.6 (Local)

2025-10-25T04:06:05.482Z,1761365165.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.1,   1.6 (Local)

2025-10-25T04:06:05.484Z,1761365165.484 [DAT](INFO): DAT read: Range 10 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-10-25T04:06:05.489Z,1761365165.489 [DAT](INFO): DAT read: 04:06:04.6432 LVL= 17552, 29297, 19010, 31475, AGC= 57, IDX= 507, 0.24,-1.160,-2.596,-1.436,-1.562, PHS= 0.490,-0.987, 0.123, RAW= 136.2,   5.7, CAL= 140.9,  -1.6, ROT=   9.1,   1.6

2025-10-25T04:06:05.490Z,1761365165.490 [DAT](INFO): got valid direction response:
 04:06:04.6432 LVL= 17552, 29297, 19010, 31475, AGC= 57, IDX= 507, 0.24,-1.160,-2.596,-1.436,-1.562, PHS= 0.490,-0.987, 0.123, RAW= 136.2,   5.7, CAL= 140.9,  -1.6, ROT=   9.1,   1.6

2025-10-25T04:06:05.490Z,1761365165.490 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-10-25T04:06:05.491Z,1761365165.491 [DAT](INFO): direction in FSK: [0.987029,0.158096,-0.027922]
2025-10-25T04:06:05.491Z,1761365165.491 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:05.523Z,1761365165.523 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.040449
2025-10-25T04:06:05.602Z,1761365165.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855406,0.515054,-0.054777],[-0.517726,0.853393,-0.060661],[0.015503,0.080249,0.996654]]
2025-10-25T04:06:05.724Z,1761365165.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.503262 s,
      deltaX: -0.400002 m,
      approachRate: -0.794818 m/s,
      rangeRepo size: 4

2025-10-25T04:06:05.730Z,1761365165.730 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.247124
2025-10-25T04:06:05.732Z,1761365165.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.189384 m,
      bearing: 338.012837 deg,
      lat: 36.779470 deg,
      lon: -121.859717 deg,
      deltaT: 0.503262 s,
      deltaX: -0.398104 m,
      approachRate: -0.791047 m/s,
      posRepo size: 4

2025-10-25T04:06:05.739Z,1761365165.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-10-25T04:06:05.750Z,1761365165.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.189384 m,
      nav range: 23.129656 m,
      bearing: 337.137601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 327.148139 deg,
      new cmd heading: 327.412632 deg.

2025-10-25T04:06:05.751Z,1761365165.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714428 target range: 23.189384 and range: 23.30 m.
2025-10-25T04:06:05.982Z,1761365165.982 [DAT](INFO): DAT read: Rx Time:04:06:05.1430 

2025-10-25T04:06:05.983Z,1761365165.983 [DAT](INFO): Rx dataTimestamp_ set to:1761365165.982336
2025-10-25T04:06:05.984Z,1761365165.984 [DAT](INFO): DAT read: Bearing  10.4,   0.8 (Local)

2025-10-25T04:06:05.984Z,1761365165.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,   0.8 (Local)

2025-10-25T04:06:05.986Z,1761365165.986 [DAT](INFO): DAT read: Range 10 to 50 :    23.0 m (trip time 15.3 ms) speed 0.5

2025-10-25T04:06:05.991Z,1761365165.991 [DAT](INFO): DAT read: 04:06:05.1430 LVL= 16368, 29137, 18114, 31475, AGC= 57, IDX= 505, 0.42,-1.347,-2.791,-1.668,-1.759, PHS= 0.499,-0.985, 0.087, RAW= 134.4,   6.1, CAL= 139.6,  -0.8, ROT=  10.4,   0.8

2025-10-25T04:06:05.992Z,1761365165.992 [DAT](INFO): got valid direction response:
 04:06:05.1430 LVL= 16368, 29137, 18114, 31475, AGC= 57, IDX= 505, 0.42,-1.347,-2.791,-1.668,-1.759, PHS= 0.499,-0.985, 0.087, RAW= 134.4,   6.1, CAL= 139.6,  -0.8, ROT=  10.4,   0.8

2025-10-25T04:06:05.993Z,1761365165.993 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-10-25T04:06:05.995Z,1761365165.995 [DAT](INFO): direction in FSK: [0.983476,0.180502,-0.013962]
2025-10-25T04:06:05.995Z,1761365165.995 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:05.999Z,1761365165.999 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.515770
2025-10-25T04:06:06.005Z,1761365166.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852882,0.519146,-0.055499],[-0.521874,0.850829,-0.061130],[0.015485,0.081100,0.996586]]
2025-10-25T04:06:06.057Z,1761365166.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.502664 s,
      deltaX: -0.299999 m,
      approachRate: -0.596819 m/s,
      rangeRepo size: 4

2025-10-25T04:06:06.066Z,1761365166.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.890810 m,
      bearing: 338.969400 deg,
      lat: 36.779471 deg,
      lon: -121.859717 deg,
      deltaT: 0.502664 s,
      deltaX: -0.298574 m,
      approachRate: -0.593984 m/s,
      posRepo size: 4

2025-10-25T04:06:06.067Z,1761365166.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m.
2025-10-25T04:06:06.074Z,1761365166.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.890810 m,
      nav range: 23.108488 m,
      bearing: 337.589944 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 327.412631 deg,
      new cmd heading: 327.598653 deg.

2025-10-25T04:06:06.075Z,1761365166.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717675 target range: 22.890810 and range: 23.00 m.
2025-10-25T04:06:06.234Z,1761365166.234 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.751541
2025-10-25T04:06:06.486Z,1761365166.486 [DAT](INFO): DAT read: Rx Time:04:06:05.6427 

2025-10-25T04:06:06.487Z,1761365166.487 [DAT](INFO): Rx dataTimestamp_ set to:1761365166.486324
2025-10-25T04:06:06.488Z,1761365166.488 [DAT](INFO): DAT read: Bearing  12.5,  -1.4 (Local)

2025-10-25T04:06:06.488Z,1761365166.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.5,  -1.4 (Local)

2025-10-25T04:06:06.491Z,1761365166.490 [DAT](INFO): DAT read: Range 10 to 50 :    22.5 m (trip time 15.0 ms) speed 0.5

2025-10-25T04:06:06.497Z,1761365166.497 [DAT](INFO): DAT read: 04:06:05.6427 LVL= 18016, 30705, 18210, 31075, AGC= 56, IDX= 503,-0.32, 1.850, 0.451, 1.477, 1.460, PHS= 0.478,-0.962, 0.014, RAW= 131.6,   7.4, CAL= 137.5,   1.4, ROT=  12.5,  -1.4

2025-10-25T04:06:06.498Z,1761365166.498 [DAT](INFO): got valid direction response:
 04:06:05.6427 LVL= 18016, 30705, 18210, 31075, AGC= 56, IDX= 503,-0.32, 1.850, 0.451, 1.477, 1.460, PHS= 0.478,-0.962, 0.014, RAW= 131.6,   7.4, CAL= 137.5,   1.4, ROT=  12.5,  -1.4

2025-10-25T04:06:06.498Z,1761365166.498 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-10-25T04:06:06.499Z,1761365166.499 [DAT](INFO): direction in FSK: [0.976005,0.216375,0.024432]
2025-10-25T04:06:06.499Z,1761365166.499 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:06.503Z,1761365166.503 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.020227
2025-10-25T04:06:06.653Z,1761365166.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.503988 s,
      deltaX: -0.500000 m,
      approachRate: -0.992087 m/s,
      rangeRepo size: 4

2025-10-25T04:06:06.655Z,1761365166.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.393175 m,
      bearing: 340.896293 deg,
      lat: 36.779471 deg,
      lon: -121.859714 deg,
      deltaT: 0.503988 s,
      deltaX: -0.497635 m,
      approachRate: -0.987394 m/s,
      posRepo size: 4

2025-10-25T04:06:06.656Z,1761365166.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m.
2025-10-25T04:06:06.667Z,1761365166.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.393175 m,
      nav range: 22.718317 m,
      bearing: 338.326440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.192797 deg/s,
      cmd heading: 327.598658 deg,
      new cmd heading: 327.945363 deg.

2025-10-25T04:06:06.668Z,1761365166.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723726 target range: 22.393175 and range: 22.50 m.
2025-10-25T04:06:06.738Z,1761365166.738 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.255564
2025-10-25T04:06:06.951Z,1761365166.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:06.963Z,1761365166.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m.
2025-10-25T04:06:06.975Z,1761365166.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.393175 m,
      nav range: 22.577993 m,
      bearing: 338.420107 deg,
      approach rate: -0.454665 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 327.945359 deg,
      new cmd heading: 328.228104 deg.

2025-10-25T04:06:06.976Z,1761365166.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728661 target range: 22.393175 and range: 22.50 m.
2025-10-25T04:06:06.990Z,1761365166.990 [DAT](INFO): DAT read: Rx Time:04:06:06.1427 

2025-10-25T04:06:06.991Z,1761365166.991 [DAT](INFO): Rx dataTimestamp_ set to:1761365166.990479
2025-10-25T04:06:06.992Z,1761365166.992 [DAT](INFO): DAT read: Bearing  13.3,  -1.6 (Local)

2025-10-25T04:06:06.993Z,1761365166.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3,  -1.6 (Local)

2025-10-25T04:06:06.996Z,1761365166.996 [DAT](INFO): DAT read: Range 10 to 50 :    22.5 m (trip time 15.0 ms) speed 0.5

2025-10-25T04:06:07.002Z,1761365167.002 [DAT](INFO): DAT read: 04:06:06.1427 LVL= 17008, 27697, 16594, 28435, AGC= 56, IDX= 502,-0.16, 2.534, 1.104, 2.124, 2.124, PHS= 0.498,-0.973,-0.003, RAW= 130.4,   7.4, CAL= 136.7,   1.6, ROT=  13.3,  -1.6

2025-10-25T04:06:07.003Z,1761365167.003 [DAT](INFO): got valid direction response:
 04:06:06.1427 LVL= 17008, 27697, 16594, 28435, AGC= 56, IDX= 502,-0.16, 2.534, 1.104, 2.124, 2.124, PHS= 0.498,-0.973,-0.003, RAW= 130.4,   7.4, CAL= 136.7,   1.6, ROT=  13.3,  -1.6

2025-10-25T04:06:07.003Z,1761365167.003 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-10-25T04:06:07.004Z,1761365167.004 [DAT](INFO): direction in FSK: [0.972799,0.229960,0.027922]
2025-10-25T04:06:07.004Z,1761365167.004 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:07.008Z,1761365167.008 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.525009
2025-10-25T04:06:07.244Z,1761365167.244 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.760006
2025-10-25T04:06:07.286Z,1761365167.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845111,0.531444,-0.057926],[-0.534362,0.842945,-0.062452],[0.015639,0.083733,0.996365]]
2025-10-25T04:06:07.444Z,1761365167.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504155 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:07.465Z,1761365167.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.393181 m,
      bearing: 340.830421 deg,
      lat: 36.779471 deg,
      lon: -121.859710 deg,
      deltaT: 0.504155 s,
      deltaX: 0.000006 m,
      approachRate: 0.000011 m/s,
      posRepo size: 4

2025-10-25T04:06:07.468Z,1761365167.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m.
2025-10-25T04:06:07.476Z,1761365167.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.393181 m,
      nav range: 22.242130 m,
      bearing: 339.457885 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 328.228101 deg,
      new cmd heading: 328.670977 deg.

2025-10-25T04:06:07.481Z,1761365167.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736391 target range: 22.393181 and range: 22.50 m.
2025-10-25T04:06:07.495Z,1761365167.495 [DAT](INFO): DAT read: Rx Time:04:24 

2025-10-25T04:06:07.495Z,1761365167.495 [DAT](INFO): Rx dataTimestamp_ set to:1761365167.495095
2025-10-25T04:06:07.497Z,1761365167.497 [DAT](INFO): DAT read: Bearing  13.4,  -0.9 (Local)

2025-10-25T04:06:07.497Z,1761365167.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.4,  -0.9 (Local)

2025-10-25T04:06:07.499Z,1761365167.499 [DAT](INFO): DAT read: Range 10 to 50 :    22.1 m (trip time 14.7 ms) speed 0.5

2025-10-25T04:06:07.504Z,1761365167.504 [DAT](INFO): DAT read: 04:06:06.6424 LVL= 19296, 31953, 19250, 32755, AGC= 56, IDX= 499, 0.01, 1.749, 0.286, 1.321, 1.311, PHS= 0.526,-0.978, 0.007, RAW= 130.1,   6.8, CAL= 136.6,   0.9, ROT=  13.4,  -0.9

2025-10-25T04:06:07.505Z,1761365167.505 [DAT](INFO): got valid direction response:
 04:06:06.6424 LVL= 19296, 31953, 19250, 32755, AGC= 56, IDX= 499, 0.01, 1.749, 0.286, 1.321, 1.311, PHS= 0.526,-0.978, 0.007, RAW= 130.1,   6.8, CAL= 136.6,   0.9, ROT=  13.4,  -0.9

2025-10-25T04:06:07.506Z,1761365167.506 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-10-25T04:06:07.506Z,1761365167.506 [DAT](INFO): direction in FSK: [0.972656,0.231719,0.015707]
2025-10-25T04:06:07.507Z,1761365167.507 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:07.518Z,1761365167.518 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.035641
2025-10-25T04:06:07.746Z,1761365167.746 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.263330
2025-10-25T04:06:07.767Z,1761365167.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844143,0.532920,-0.058466],[-0.535890,0.841928,-0.063079],[0.015608,0.084579,0.996294]]
2025-10-25T04:06:07.925Z,1761365167.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.504616 s,
      deltaX: -0.400000 m,
      approachRate: -0.792681 m/s,
      rangeRepo size: 4

2025-10-25T04:06:07.935Z,1761365167.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.995081 m,
      bearing: 340.879647 deg,
      lat: 36.779471 deg,
      lon: -121.859705 deg,
      deltaT: 0.504616 s,
      deltaX: -0.398100 m,
      approachRate: -0.788917 m/s,
      posRepo size: 4

2025-10-25T04:06:07.935Z,1761365167.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-10-25T04:06:07.942Z,1761365167.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.995081 m,
      nav range: 21.831182 m,
      bearing: 340.755988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 328.670970 deg,
      new cmd heading: 329.112405 deg.

2025-10-25T04:06:07.943Z,1761365167.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744095 target range: 21.995081 and range: 22.10 m.
2025-10-25T04:06:07.998Z,1761365167.998 [DAT](INFO): DAT read: Rx Time:04:06:07.1424 

2025-10-25T04:06:07.999Z,1761365167.999 [DAT](INFO): Rx dataTimestamp_ set to:1761365167.998418
2025-10-25T04:06:07.000Z,1761365168.000 [DAT](INFO): DAT read: Bearing  13.2,  -0.2 (Local)

2025-10-25T04:06:08.000Z,1761365168.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.2,  -0.2 (Local)

2025-10-25T04:06:08.002Z,1761365168.002 [DAT](INFO): DAT read: Range 10 to 50 :    22.1 m (trip time 14.7 ms) speed 0.5

2025-10-25T04:06:08.009Z,1761365168.009 [DAT](INFO): DAT read: 04:06:07.1424 LVL= 18832, 29265, 17442, 29107, AGC= 56, IDX= 498, 0.19,-2.604, 2.185,-3.038,-3.065, PHS= 0.549,-0.986, 0.024, RAW= 130.3,   6.2, CAL= 136.8,   0.2, ROT=  13.2,  -0.2

2025-10-25T04:06:08.010Z,1761365168.010 [DAT](INFO): got valid direction response:
 04:06:07.1424 LVL= 18832, 29265, 17442, 29107, AGC= 56, IDX= 498, 0.19,-2.604, 2.185,-3.038,-3.065, PHS= 0.549,-0.986, 0.024, RAW= 130.3,   6.2, CAL= 136.8,   0.2, ROT=  13.2,  -0.2

2025-10-25T04:06:08.011Z,1761365168.011 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-10-25T04:06:08.021Z,1761365168.021 [DAT](INFO): direction in FSK: [0.973573,0.228349,0.003491]
2025-10-25T04:06:08.022Z,1761365168.022 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:08.054Z,1761365168.054 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.571281
2025-10-25T04:06:08.157Z,1761365168.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843749,0.533379,-0.059958],[-0.536503,0.841405,-0.064817],[0.015878,0.086857,0.996094]]
2025-10-25T04:06:08.243Z,1761365168.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503323 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:08.252Z,1761365168.252 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.768497
2025-10-25T04:06:08.264Z,1761365168.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.995098 m,
      bearing: 340.690822 deg,
      lat: 36.779473 deg,
      lon: -121.859705 deg,
      deltaT: 0.503323 s,
      deltaX: 0.000017 m,
      approachRate: 0.000034 m/s,
      posRepo size: 4

2025-10-25T04:06:08.274Z,1761365168.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-10-25T04:06:08.282Z,1761365168.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.995098 m,
      nav range: 21.802492 m,
      bearing: 341.021755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 329.112392 deg,
      new cmd heading: 329.410104 deg.

2025-10-25T04:06:08.284Z,1761365168.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749291 target range: 21.995098 and range: 22.10 m.
2025-10-25T04:06:08.505Z,1761365168.505 [DAT](INFO): DAT read: Rx Time:04:06:07.6421 

2025-10-25T04:06:08.505Z,1761365168.505 [DAT](INFO): Rx dataTimestamp_ set to:1761365168.504697
2025-10-25T04:06:08.506Z,1761365168.506 [DAT](INFO): DAT read: Bearing  15.0,  -1.9 (Local)

2025-10-25T04:06:08.507Z,1761365168.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.0,  -1.9 (Local)

2025-10-25T04:06:08.509Z,1761365168.509 [DAT](INFO): DAT read: Range 10 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-10-25T04:06:08.532Z,1761365168.532 [DAT](INFO): DAT read: 04:06:07.6421 LVL= 19248, 31873, 18338, 32755, AGC= 56, IDX= 496,-0.47, 0.070,-1.368,-0.397,-0.364, PHS= 0.522,-0.957,-0.035, RAW= 128.1,   7.3, CAL= 135.0,   1.9, ROT=  15.0,  -1.9

2025-10-25T04:06:08.549Z,1761365168.549 [DAT](INFO): got valid direction response:
 04:06:07.6421 LVL= 19248, 31873, 18338, 32755, AGC= 56, IDX= 496,-0.47, 0.070,-1.368,-0.397,-0.364, PHS= 0.522,-0.957,-0.035, RAW= 128.1,   7.3, CAL= 135.0,   1.9, ROT=  15.0,  -1.9

2025-10-25T04:06:08.550Z,1761365168.550 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-10-25T04:06:08.551Z,1761365168.551 [DAT](INFO): direction in FSK: [0.965395,0.258677,0.033155]
2025-10-25T04:06:08.551Z,1761365168.551 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:08.598Z,1761365168.598 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.115356
2025-10-25T04:06:08.733Z,1761365168.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.506279 s,
      deltaX: -0.500000 m,
      approachRate: -0.987598 m/s,
      rangeRepo size: 4

2025-10-25T04:06:08.735Z,1761365168.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.497471 m,
      bearing: 342.350343 deg,
      lat: 36.779473 deg,
      lon: -121.859705 deg,
      deltaT: 0.506279 s,
      deltaX: -0.497627 m,
      approachRate: -0.982911 m/s,
      posRepo size: 4

2025-10-25T04:06:08.736Z,1761365168.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.50 m.
2025-10-25T04:06:08.743Z,1761365168.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.497471 m,
      nav range: 21.577026 m,
      bearing: 341.267962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 329.410106 deg,
      new cmd heading: 329.847186 deg.

2025-10-25T04:06:08.749Z,1761365168.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756919 target range: 21.497471 and range: 21.60 m.
2025-10-25T04:06:08.754Z,1761365168.754 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.270729
2025-10-25T04:06:08.989Z,1761365168.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844178,0.532171,-0.064485],[-0.535800,0.841407,-0.070378],[0.016805,0.093963,0.995434]]
2025-10-25T04:06:09.007Z,1761365169.007 [DAT](INFO): DAT read: Rx Time:04:06:08.1420 

2025-10-25T04:06:09.007Z,1761365169.007 [DAT](INFO): Rx dataTimestamp_ set to:1761365169.006800
2025-10-25T04:06:09.009Z,1761365169.009 [DAT](INFO): DAT read: Bearing  15.6,  -2.2 (Local)

2025-10-25T04:06:09.009Z,1761365169.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.6,  -2.2 (Local)

2025-10-25T04:06:09.012Z,1761365169.012 [DAT](INFO): DAT read: Range 10 to 50 :    21.5 m (trip time 14.3 ms) speed 0.5

2025-10-25T04:06:09.017Z,1761365169.017 [DAT](INFO): DAT read: 04:06:08.1420 LVL= 18288, 26849, 17442, 29875, AGC= 55, IDX= 511,-0.08, 0.203,-1.225,-0.279,-0.231, PHS= 0.522,-0.947,-0.050, RAW= 127.2,   7.5, CAL= 134.4,   2.2, ROT=  15.6,  -2.2

2025-10-25T04:06:09.018Z,1761365169.018 [DAT](INFO): got valid direction response:
 04:06:08.1420 LVL= 18288, 26849, 17442, 29875, AGC= 55, IDX= 511,-0.08, 0.203,-1.225,-0.279,-0.231, PHS= 0.522,-0.947,-0.050, RAW= 127.2,   7.5, CAL= 134.4,   2.2, ROT=  15.6,  -2.2

2025-10-25T04:06:09.019Z,1761365169.019 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-10-25T04:06:09.020Z,1761365169.020 [DAT](INFO): direction in FSK: [0.962453,0.268722,0.038388]
2025-10-25T04:06:09.020Z,1761365169.020 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:09.042Z,1761365169.042 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.558714
2025-10-25T04:06:09.067Z,1761365169.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.502103 s,
      deltaX: -0.100000 m,
      approachRate: -0.199163 m/s,
      rangeRepo size: 4

2025-10-25T04:06:09.074Z,1761365169.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.397945 m,
      bearing: 342.949722 deg,
      lat: 36.779474 deg,
      lon: -121.859705 deg,
      deltaT: 0.502103 s,
      deltaX: -0.099525 m,
      approachRate: -0.198217 m/s,
      posRepo size: 4

2025-10-25T04:06:09.074Z,1761365169.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.40 m.
2025-10-25T04:06:09.081Z,1761365169.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.397945 m,
      nav range: 21.506973 m,
      bearing: 341.474133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 329.847184 deg,
      new cmd heading: 330.164742 deg.

2025-10-25T04:06:09.082Z,1761365169.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762462 target range: 21.397945 and range: 21.50 m.
2025-10-25T04:06:09.258Z,1761365169.258 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.774920
2025-10-25T04:06:09.504Z,1761365169.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844822,0.530817,-0.067149],[-0.534755,0.841829,-0.073214],[0.017665,0.097761,0.995053]]
2025-10-25T04:06:09.510Z,1761365169.510 [DAT](INFO): DAT read: Rx Time:04:06:08.6418 

2025-10-25T04:06:09.511Z,1761365169.511 [DAT](INFO): Rx dataTimestamp_ set to:1761365169.510601
2025-10-25T04:06:09.513Z,1761365169.513 [DAT](INFO): DAT read: Bearing  14.4,  -0.6 (Local)

2025-10-25T04:06:09.514Z,1761365169.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.4,  -0.6 (Local)

2025-10-25T04:06:09.516Z,1761365169.516 [DAT](INFO): DAT read: Range 10 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-10-25T04:06:09.521Z,1761365169.521 [DAT](INFO): DAT read: 04:06:08.6418 LVL= 19568, 27857, 17698, 30643, AGC= 55, IDX= 508, 0.24,-0.059,-1.476,-0.507,-0.505, PHS= 0.535,-0.924,-0.004, RAW= 128.6,   6.2, CAL= 135.6,   0.6, ROT=  14.4,  -0.6

2025-10-25T04:06:09.522Z,1761365169.522 [DAT](INFO): got valid direction response:
 04:06:08.6418 LVL= 19568, 27857, 17698, 30643, AGC= 55, IDX= 508, 0.24,-0.059,-1.476,-0.507,-0.505, PHS= 0.535,-0.924,-0.004, RAW= 128.6,   6.2, CAL= 135.6,   0.6, ROT=  14.4,  -0.6

2025-10-25T04:06:09.522Z,1761365169.522 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-10-25T04:06:09.523Z,1761365169.523 [DAT](INFO): direction in FSK: [0.968530,0.248676,0.010472]
2025-10-25T04:06:09.523Z,1761365169.523 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:09.531Z,1761365169.531 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.048222
2025-10-25T04:06:09.655Z,1761365169.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503801 s,
      deltaX: -0.299999 m,
      approachRate: -0.595472 m/s,
      rangeRepo size: 4

2025-10-25T04:06:09.665Z,1761365169.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.099380 m,
      bearing: 341.954813 deg,
      lat: 36.779473 deg,
      lon: -121.859703 deg,
      deltaT: 0.503801 s,
      deltaX: -0.298565 m,
      approachRate: -0.592625 m/s,
      posRepo size: 4

2025-10-25T04:06:09.666Z,1761365169.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-10-25T04:06:09.674Z,1761365169.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.099380 m,
      nav range: 21.083523 m,
      bearing: 341.965934 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.305378 deg/s,
      cmd heading: 330.164733 deg,
      new cmd heading: 330.702946 deg.

2025-10-25T04:06:09.675Z,1761365169.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771855 target range: 21.099380 and range: 21.20 m.
2025-10-25T04:06:09.763Z,1761365169.763 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.279945
2025-10-25T04:06:09.836Z,1761365169.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846021,0.528475,-0.070439],[-0.532826,0.842691,-0.077247],[0.018536,0.102884,0.994521]]
2025-10-25T04:06:09.914Z,1761365169.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:09.923Z,1761365169.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-10-25T04:06:09.934Z,1761365169.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.099380 m,
      nav range: 20.972296 m,
      bearing: 342.039421 deg,
      approach rate: -0.413293 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 330.702952 deg,
      new cmd heading: 330.924582 deg.

2025-10-25T04:06:09.935Z,1761365169.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775723 target range: 21.099380 and range: 21.20 m.
2025-10-25T04:06:10.014Z,1761365170.014 [DAT](INFO): DAT read: Rx Time:04:06:09.1416 

2025-10-25T04:06:10.015Z,1761365170.015 [DAT](INFO): Rx dataTimestamp_ set to:1761365170.014593
2025-10-25T04:06:10.016Z,1761365170.016 [DAT](INFO): DAT read: Bearing  15.8,  -2.0 (Local)

2025-10-25T04:06:10.017Z,1761365170.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.8,  -2.0 (Local)

2025-10-25T04:06:10.019Z,1761365170.019 [DAT](INFO): DAT read: Range 10 to 50 :    20.9 m (trip time 13.9 ms) speed 0.4

2025-10-25T04:06:10.024Z,1761365170.024 [DAT](INFO): DAT read: 04:06:09.1416 LVL= 19120, 28065, 17474, 30163, AGC= 56, IDX= 507,-0.28,-2.159, 2.713,-2.641,-2.594, PHS= 0.522,-0.930,-0.051, RAW= 126.9,   7.3, CAL= 134.2,   2.0, ROT=  15.8,  -2.0

2025-10-25T04:06:10.025Z,1761365170.025 [DAT](INFO): got valid direction response:
 04:06:09.1416 LVL= 19120, 28065, 17474, 30163, AGC= 56, IDX= 507,-0.28,-2.159, 2.713,-2.641,-2.594, PHS= 0.522,-0.930,-0.051, RAW= 126.9,   7.3, CAL= 134.2,   2.0, ROT=  15.8,  -2.0

2025-10-25T04:06:10.025Z,1761365170.025 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-10-25T04:06:10.026Z,1761365170.026 [DAT](INFO): direction in FSK: [0.961632,0.272114,0.034899]
2025-10-25T04:06:10.026Z,1761365170.026 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:10.031Z,1761365170.031 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.548416
2025-10-25T04:06:10.235Z,1761365170.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847740,0.525314,-0.073359],[-0.530048,0.844135,-0.080526],[0.019623,0.107149,0.994049]]
2025-10-25T04:06:10.266Z,1761365170.266 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.782791
2025-10-25T04:06:10.330Z,1761365170.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 0.503992 s,
      deltaX: -0.300001 m,
      approachRate: -0.595250 m/s,
      rangeRepo size: 4

2025-10-25T04:06:10.342Z,1761365170.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.800821 m,
      bearing: 343.513313 deg,
      lat: 36.779474 deg,
      lon: -121.859700 deg,
      deltaT: 0.503992 s,
      deltaX: -0.298559 m,
      approachRate: -0.592389 m/s,
      posRepo size: 4

2025-10-25T04:06:10.342Z,1761365170.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m.
2025-10-25T04:06:10.349Z,1761365170.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.800821 m,
      nav range: 20.783264 m,
      bearing: 342.974011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 330.924578 deg,
      new cmd heading: 331.254892 deg.

2025-10-25T04:06:10.350Z,1761365170.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781488 target range: 20.800821 and range: 20.90 m.
2025-10-25T04:06:10.529Z,1761365170.529 [DAT](INFO): DAT read: Rx Time:04:06:09.6414 

2025-10-25T04:06:10.530Z,1761365170.530 [DAT](INFO): Rx dataTimestamp_ set to:1761365170.529078
2025-10-25T04:06:10.535Z,1761365170.535 [DAT](INFO): DAT read: Bearing  14.8,  -1.1 (Local)

2025-10-25T04:06:10.545Z,1761365170.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.8,  -1.1 (Local)

2025-10-25T04:06:10.548Z,1761365170.548 [DAT](INFO): DAT read: Range 10 to 50 :    20.4 m (trip time 13.6 ms) speed 0.4

2025-10-25T04:06:10.579Z,1761365170.579 [DAT](INFO): DAT read: 04:06:09.6414 LVL= 21264, 32753, 19554, 32755, AGC= 55, IDX= 504, 0.07,-2.151, 2.729,-2.602,-2.586, PHS= 0.524,-0.921,-0.018, RAW= 128.2,   6.6, CAL= 135.2,   1.1, ROT=  14.8,  -1.1

2025-10-25T04:06:10.580Z,1761365170.580 [DAT](INFO): got valid direction response:
 04:06:09.6414 LVL= 21264, 32753, 19554, 32755, AGC= 55, IDX= 504, 0.07,-2.151, 2.729,-2.602,-2.586, PHS= 0.524,-0.921,-0.018, RAW= 128.2,   6.6, CAL= 135.2,   1.1, ROT=  14.8,  -1.1

2025-10-25T04:06:10.585Z,1761365170.585 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-10-25T04:06:10.586Z,1761365170.586 [DAT](INFO): direction in FSK: [0.966645,0.255399,0.019197]
2025-10-25T04:06:10.586Z,1761365170.586 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:10.595Z,1761365170.595 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.112404
2025-10-25T04:06:10.770Z,1761365170.770 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.286800
2025-10-25T04:06:10.776Z,1761365170.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.514485 s,
      deltaX: -0.500000 m,
      approachRate: -0.971846 m/s,
      rangeRepo size: 4

2025-10-25T04:06:10.782Z,1761365170.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.303194 m,
      bearing: 342.604636 deg,
      lat: 36.779473 deg,
      lon: -121.859700 deg,
      deltaT: 0.514485 s,
      deltaX: -0.497627 m,
      approachRate: -0.967234 m/s,
      posRepo size: 4

2025-10-25T04:06:10.783Z,1761365170.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-10-25T04:06:10.790Z,1761365170.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.303194 m,
      nav range: 20.476004 m,
      bearing: 343.017964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 331.254886 deg,
      new cmd heading: 331.626109 deg.

2025-10-25T04:06:10.791Z,1761365170.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787968 target range: 20.303194 and range: 20.40 m.
2025-10-25T04:06:11.022Z,1761365171.022 [DAT](INFO): DAT read: Rx Time:04:06:10.1414 

2025-10-25T04:06:11.023Z,1761365171.023 [DAT](INFO): Rx dataTimestamp_ set to:1761365171.022489
2025-10-25T04:06:11.024Z,1761365171.024 [DAT](INFO): DAT read: Bearing  13.5,  -0.3 (Local)

2025-10-25T04:06:11.025Z,1761365171.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.5,  -0.3 (Local)

2025-10-25T04:06:11.027Z,1761365171.027 [DAT](INFO): DAT read: Range 10 to 50 :    20.4 m (trip time 13.6 ms) speed 0.4

2025-10-25T04:06:11.035Z,1761365171.035 [DAT](INFO): DAT read: 04:06:10.1414 LVL= 16960, 23585, 15714, 25459, AGC= 55, IDX= 503, 0.43, 0.449,-1.049, 0.003,-0.018, PHS= 0.554,-0.984, 0.018, RAW= 129.9,   6.1, CAL= 136.5,   0.3, ROT=  13.5,  -0.3

2025-10-25T04:06:11.037Z,1761365171.037 [DAT](INFO): got valid direction response:
 04:06:10.1414 LVL= 16960, 23585, 15714, 25459, AGC= 55, IDX= 503, 0.43, 0.449,-1.049, 0.003,-0.018, PHS= 0.554,-0.984, 0.018, RAW= 129.9,   6.1, CAL= 136.5,   0.3, ROT=  13.5,  -0.3

2025-10-25T04:06:11.037Z,1761365171.037 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-10-25T04:06:11.038Z,1761365171.038 [DAT](INFO): direction in FSK: [0.972357,0.233442,0.005236]
2025-10-25T04:06:11.038Z,1761365171.038 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:11.043Z,1761365171.043 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.559719
2025-10-25T04:06:11.087Z,1761365171.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852130,0.517276,-0.079377],[-0.522865,0.847920,-0.087433],[0.022079,0.116007,0.993003]]
2025-10-25T04:06:11.150Z,1761365171.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.493411 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:11.152Z,1761365171.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.303194 m,
      bearing: 341.857677 deg,
      lat: 36.779473 deg,
      lon: -121.859701 deg,
      deltaT: 0.493411 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:11.157Z,1761365171.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m.
2025-10-25T04:06:11.159Z,1761365171.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.303194 m,
      nav range: 20.315851 m,
      bearing: 342.899739 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 331.626120 deg,
      new cmd heading: 331.933863 deg.

2025-10-25T04:06:11.165Z,1761365171.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793339 target range: 20.303194 and range: 20.40 m.
2025-10-25T04:06:11.275Z,1761365171.275 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.791660
2025-10-25T04:06:11.522Z,1761365171.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854603,0.512794,-0.081829],[-0.518768,0.850101,-0.090594],[0.023107,0.119872,0.992520]]
2025-10-25T04:06:11.531Z,1761365171.531 [DAT](INFO): DAT read: Rx Time:04:06:10.6411 

2025-10-25T04:06:11.533Z,1761365171.533 [DAT](INFO): Rx dataTimestamp_ set to:1761365171.531623
2025-10-25T04:06:11.535Z,1761365171.535 [DAT](INFO): DAT read: Bearing  13.9,  -1.2 (Local)

2025-10-25T04:06:11.535Z,1761365171.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.9,  -1.2 (Local)

2025-10-25T04:06:11.537Z,1761365171.537 [DAT](INFO): DAT read: Range 10 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-10-25T04:06:11.542Z,1761365171.542 [DAT](INFO): DAT read: 04:06:10.6411 LVL= 17360, 25297, 17986, 27683, AGC= 54, IDX= 501,-0.13,-1.593,-3.030,-2.027,-2.023, PHS= 0.518,-0.960,-0.006, RAW= 129.5,   7.0, CAL= 136.1,   1.2, ROT=  13.9,  -1.2

2025-10-25T04:06:11.543Z,1761365171.543 [DAT](INFO): got valid direction response:
 04:06:10.6411 LVL= 17360, 25297, 17986, 27683, AGC= 54, IDX= 501,-0.13,-1.593,-3.030,-2.027,-2.023, PHS= 0.518,-0.960,-0.006, RAW= 129.5,   7.0, CAL= 136.1,   1.2, ROT=  13.9,  -1.2

2025-10-25T04:06:11.544Z,1761365171.544 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-10-25T04:06:11.545Z,1761365171.545 [DAT](INFO): direction in FSK: [0.970504,0.240175,0.020942]
2025-10-25T04:06:11.545Z,1761365171.545 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:11.549Z,1761365171.549 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.066631
2025-10-25T04:06:11.690Z,1761365171.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.509134 s,
      deltaX: -0.400000 m,
      approachRate: -0.785647 m/s,
      rangeRepo size: 4

2025-10-25T04:06:11.697Z,1761365171.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905094 m,
      bearing: 342.423813 deg,
      lat: 36.779471 deg,
      lon: -121.859702 deg,
      deltaT: 0.509134 s,
      deltaX: -0.398100 m,
      approachRate: -0.781916 m/s,
      posRepo size: 4

2025-10-25T04:06:11.698Z,1761365171.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-25T04:06:11.705Z,1761365171.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.905094 m,
      nav range: 19.963964 m,
      bearing: 342.524309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 331.933861 deg,
      new cmd heading: 332.379411 deg.

2025-10-25T04:06:11.706Z,1761365171.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801115 target range: 19.905094 and range: 20.00 m.
2025-10-25T04:06:11.779Z,1761365171.779 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.295803
2025-10-25T04:06:11.967Z,1761365171.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857374,0.507741,-0.084309],[-0.514126,0.852550,-0.093981],[0.024160,0.123922,0.991998]]
2025-10-25T04:06:12.030Z,1761365172.030 [DAT](INFO): DAT read: Rx Time:04:06:11.1411 

2025-10-25T04:06:12.031Z,1761365172.031 [DAT](INFO): Rx dataTimestamp_ set to:1761365172.030599
2025-10-25T04:06:12.032Z,1761365172.032 [DAT](INFO): DAT read: Bearing  12.2,   0.9 (Local)

2025-10-25T04:06:12.033Z,1761365172.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,   0.9 (Local)

2025-10-25T04:06:12.035Z,1761365172.035 [DAT](INFO): DAT read: Range 10 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-10-25T04:06:12.040Z,1761365172.040 [DAT](INFO): DAT read: 04:06:11.1411 LVL= 17760, 27185, 17298, 29299, AGC= 54, IDX= 500, 0.18, 1.724, 0.244, 1.329, 1.267, PHS= 0.545,-0.976, 0.059, RAW= 131.7,   5.6, CAL= 137.8,  -0.9, ROT=  12.2,   0.9

2025-10-25T04:06:12.041Z,1761365172.041 [DAT](INFO): got valid direction response:
 04:06:11.1411 LVL= 17760, 27185, 17298, 29299, AGC= 54, IDX= 500, 0.18, 1.724, 0.244, 1.329, 1.267, PHS= 0.545,-0.976, 0.059, RAW= 131.7,   5.6, CAL= 137.8,  -0.9, ROT=  12.2,   0.9

2025-10-25T04:06:12.041Z,1761365172.041 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-10-25T04:06:12.042Z,1761365172.042 [DAT](INFO): direction in FSK: [0.977295,0.211299,-0.015707]
2025-10-25T04:06:12.042Z,1761365172.042 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:12.048Z,1761365172.048 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.564804
2025-10-25T04:06:12.083Z,1761365172.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.498976 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:12.089Z,1761365172.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.905094 m,
      bearing: 341.275265 deg,
      lat: 36.779471 deg,
      lon: -121.859702 deg,
      deltaT: 0.498976 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:12.090Z,1761365172.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-25T04:06:12.097Z,1761365172.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.905094 m,
      nav range: 19.750629 m,
      bearing: 342.538715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.274509 deg/s,
      cmd heading: 332.379408 deg,
      new cmd heading: 332.702525 deg.

2025-10-25T04:06:12.098Z,1761365172.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806755 target range: 19.905094 and range: 20.00 m.
2025-10-25T04:06:12.283Z,1761365172.283 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.799702
2025-10-25T04:06:12.325Z,1761365172.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:06:12.541Z,1761365172.541 [DAT](INFO): DAT read: Rx Time:04:06:11.6408 

2025-10-25T04:06:12.543Z,1761365172.543 [DAT](INFO): Rx dataTimestamp_ set to:1761365172.541550
2025-10-25T04:06:12.547Z,1761365172.547 [DAT](INFO): DAT read: Bearing  12.2,  -0.9 (Local)

2025-10-25T04:06:12.549Z,1761365172.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,  -0.9 (Local)

2025-10-25T04:06:12.555Z,1761365172.555 [DAT](INFO): DAT read: Range 10 t  19.5 m (trip time 13.0 ms) speed 0.4

2025-10-25T04:06:12.569Z,1761365172.569 [DAT](INFO): unknown deviceResponse_: Range 10 t  19.5 m (trip time 13.0 ms) speed 0.4

2025-10-25T04:06:12.578Z,1761365172.578 [DAT](INFO): DAT read: 04:06:11.6408 LVL= 16976, 30689, 17554, 30739, AGC= 54, IDX= 498,-0.29,-1.390,-2.782,-1.755,-1.785, PHS= 0.483,-0.950, 0.027, RAW= 131.9,   7.0, CAL= 137.8,   0.9, ROT=  12.2,  -0.9

2025-10-25T04:06:12.580Z,1761365172.580 [DAT](INFO): got valid direction response:
 04:06:11.6408 LVL= 16976, 30689, 17554, 30739, AGC= 54, IDX= 498,-0.29,-1.390,-2.782,-1.755,-1.785, PHS= 0.483,-0.950, 0.027, RAW= 131.9,   7.0, CAL= 137.8,   0.9, ROT=  12.2,  -0.9

2025-10-25T04:06:12.589Z,1761365172.589 [DAT](INFO): #Rx 69: Read direction message, but no range.
2025-10-25T04:06:12.590Z,1761365172.590 [DAT](INFO): direction in FSK: [0.977295,0.211299,0.015707]
2025-10-25T04:06:12.613Z,1761365172.613 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.130482
2025-10-25T04:06:12.735Z,1761365172.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:12.753Z,1761365172.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-10-25T04:06:12.755Z,1761365172.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.905094 m,
      nav range: 19.427269 m,
      bearing: 342.613521 deg,
      approach rate: -0.494158 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 332.702531 deg,
      new cmd heading: 332.930682 deg.

2025-10-25T04:06:12.761Z,1761365172.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810737 target range: 19.905094 and range: 20.00 m.
2025-10-25T04:06:12.786Z,1761365172.786 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.302780
2025-10-25T04:06:13.038Z,1761365173.038 [DAT](INFO): DAT read: Rx Time:04:06:12.1408 

2025-10-25T04:06:13.039Z,1761365173.039 [DAT](INFO): Rx dataTimestamp_ set to:1761365173.038446
2025-10-25T04:06:13.040Z,1761365173.040 [DAT](INFO): DAT read: Bearing  10.1,   0.5 (Local)

2025-10-25T04:06:13.040Z,1761365173.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,   0.5 (Local)

2025-10-25T04:06:13.043Z,1761365173.043 [DAT](INFO): DAT read: Range 10 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-10-25T04:06:13.049Z,1761365173.049 [DAT](INFO): DAT read: 04:06:12.1408 LVL= 16864, 27313, 17650, 30067, AGC= 55, IDX= 496, 0.06, 0.027,-1.426,-0.288,-0.379, PHS= 0.494,-1.000, 0.088, RAW= 134.8,   6.3, CAL= 139.9,  -0.5, ROT=  10.1,   0.5

2025-10-25T04:06:13.050Z,1761365173.050 [DAT](INFO): got valid direction response:
 04:06:12.1408 LVL= 16864, 27313, 17650, 30067, AGC= 55, IDX= 496, 0.06, 0.027,-1.426,-0.288,-0.379, PHS= 0.494,-1.000, 0.088, RAW= 134.8,   6.3, CAL= 139.9,  -0.5, ROT=  10.1,   0.5

2025-10-25T04:06:13.050Z,1761365173.050 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-10-25T04:06:13.051Z,1761365173.051 [DAT](INFO): direction in FSK: [0.984466,0.175360,-0.008727]
2025-10-25T04:06:13.052Z,1761365173.052 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:13.060Z,1761365173.060 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.576862
2025-10-25T04:06:13.187Z,1761365173.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871692,0.482157,-0.087623],[-0.489435,0.865549,-0.106200],[0.024637,0.135460,0.990476]]
2025-10-25T04:06:13.288Z,1761365173.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 1.007847 s,
      deltaX: -0.500000 m,
      approachRate: -0.496107 m/s,
      rangeRepo size: 4

2025-10-25T04:06:13.291Z,1761365173.291 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.807327
2025-10-25T04:06:13.302Z,1761365173.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.407448 m,
      bearing: 340.768979 deg,
      lat: 36.779471 deg,
      lon: -121.859705 deg,
      deltaT: 1.007847 s,
      deltaX: -0.497646 m,
      approachRate: -0.493772 m/s,
      posRepo size: 4

2025-10-25T04:06:13.303Z,1761365173.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.41 m.
2025-10-25T04:06:13.315Z,1761365173.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.407448 m,
      nav range: 19.248802 m,
      bearing: 342.034493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 332.930686 deg,
      new cmd heading: 333.122386 deg.

2025-10-25T04:06:13.316Z,1761365173.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814083 target range: 19.407448 and range: 19.50 m.
2025-10-25T04:06:13.330Z,1761365173.330 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:06:13.547Z,1761365173.547 [DAT](INFO): DAT read: Rx Time:04:06:12.6405 

2025-10-25T04:06:13.550Z,1761365173.550 [DAT](INFO): Rx dataTimestamp_ set to:1761365173.548045
2025-10-25T04:06:13.554Z,1761365173.554 [DAT](INFO): DAT read: Bearing   9.2,   0.0 (Local)

2025-10-25T04:06:13.556Z,1761365173.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,   0.0 (Local)

2025-10-25T04:06:13.564Z,1761365173.564 [DAT](INFO): DAT read: Range 10 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-10-25T04:06:13.573Z,1761365173.573 [DAT](INFO): DAT read: 04:06:12.6405 LVL= 16064, 28145, 17890, 30515, AGC= 54, IDX= 510,-0.50,-1.797, 3.095,-2.065,-2.160, PHS= 0.450,-0.981, 0.092, RAW= 136.1,   6.9, CAL= 140.8,  -0.0, ROT=   9.2,   0.0

2025-10-25T04:06:13.574Z,1761365173.574 [DAT](INFO): got valid direction response:
 04:06:12.6405 LVL= 16064, 28145, 17890, 30515, AGC= 54, IDX= 510,-0.50,-1.797, 3.095,-2.065,-2.160, PHS= 0.450,-0.981, 0.092, RAW= 136.1,   6.9, CAL= 140.8,  -0.0, ROT=   9.2,   0.0

2025-10-25T04:06:13.574Z,1761365173.574 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-10-25T04:06:13.575Z,1761365173.575 [DAT](INFO): direction in FSK: [0.987136,0.159881,-0.000000]
2025-10-25T04:06:13.575Z,1761365173.575 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:13.591Z,1761365173.591 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.108452
2025-10-25T04:06:13.794Z,1761365173.794 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.311043
2025-10-25T04:06:13.868Z,1761365173.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.509599 s,
      deltaX: -0.400000 m,
      approachRate: -0.784930 m/s,
      rangeRepo size: 4

2025-10-25T04:06:13.904Z,1761365173.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.009117 m,
      bearing: 339.810933 deg,
      lat: 36.779471 deg,
      lon: -121.859707 deg,
      deltaT: 0.509599 s,
      deltaX: -0.398331 m,
      approachRate: -0.781655 m/s,
      posRepo size: 4

2025-10-25T04:06:13.911Z,1761365173.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.01 m.
2025-10-25T04:06:13.934Z,1761365173.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.009117 m,
      nav range: 19.047735 m,
      bearing: 341.358719 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 333.122396 deg,
      new cmd heading: 333.322590 deg.

2025-10-25T04:06:13.935Z,1761365173.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817577 target range: 19.009117 and range: 19.10 m.
2025-10-25T04:06:14.047Z,1761365174.047 [DAT](INFO): DAT read: Rx Time:04:06:13.1404 

2025-10-25T04:06:14.048Z,1761365174.048 [DAT](INFO): Rx dataTimestamp_ set to:1761365174.047360
2025-10-25T04:06:14.050Z,1761365174.050 [DAT](INFO): DAT read: Bearing   7.1,   0.9 (Local)

2025-10-25T04:06:14.050Z,1761365174.050 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,   0.9 (Local)

2025-10-25T04:06:14.055Z,1761365174.055 [DAT](INFO): DAT read: Range 10 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-10-25T04:06:14.069Z,1761365174.069 [DAT](INFO): DAT read: 04:06:13.1404 LVL= 16144, 29553, 17762, 29651, AGC= 55, IDX= 509,-0.01,-0.310,-1.735,-0.514,-0.663, PHS= 0.441,-1.025, 0.146, RAW= 139.0,   6.6, CAL= 142.9,  -0.9, ROT=   7.1,   0.9

2025-10-25T04:06:14.071Z,1761365174.071 [DAT](INFO): got valid direction response:
 04:06:13.1404 LVL= 16144, 29553, 17762, 29651, AGC= 55, IDX= 509,-0.01,-0.310,-1.735,-0.514,-0.663, PHS= 0.441,-1.025, 0.146, RAW= 139.0,   6.6, CAL= 142.9,  -0.9, ROT=   7.1,   0.9

2025-10-25T04:06:14.071Z,1761365174.071 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-10-25T04:06:14.072Z,1761365174.072 [DAT](INFO): direction in FSK: [0.992210,0.123586,-0.015707]
2025-10-25T04:06:14.077Z,1761365174.077 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:14.111Z,1761365174.111 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.627701
2025-10-25T04:06:14.154Z,1761365174.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879666,0.467518,-0.087266],[-0.475046,0.872530,-0.114119],[0.022789,0.141842,0.989627]]
2025-10-25T04:06:14.215Z,1761365174.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.499315 s,
      deltaX: -0.200001 m,
      approachRate: -0.400550 m/s,
      rangeRepo size: 4

2025-10-25T04:06:14.265Z,1761365174.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.810068 m,
      bearing: 338.787405 deg,
      lat: 36.779470 deg,
      lon: -121.859710 deg,
      deltaT: 0.499315 s,
      deltaX: -0.199049 m,
      approachRate: -0.398644 m/s,
      posRepo size: 4

2025-10-25T04:06:14.266Z,1761365174.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m.
2025-10-25T04:06:14.273Z,1761365174.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.810068 m,
      nav range: 18.905737 m,
      bearing: 340.738536 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 333.322603 deg,
      new cmd heading: 333.446027 deg.

2025-10-25T04:06:14.274Z,1761365174.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819731 target range: 18.810068 and range: 18.90 m.
2025-10-25T04:06:14.299Z,1761365174.299 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.815495
2025-10-25T04:06:14.554Z,1761365174.554 [DAT](INFO): DAT read: Rx Time:04:06:13.6402 

2025-10-25T04:06:14.555Z,1761365174.555 [DAT](INFO): Rx dataTimestamp_ set to:1761365174.554530
2025-10-25T04:06:14.560Z,1761365174.560 [DAT](INFO): DAT read: Bearing   5.4,   2.0 (Local)

2025-10-25T04:06:14.561Z,1761365174.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,   2.0 (Local)

2025-10-25T04:06:14.568Z,1761365174.568 [DAT](INFO): DAT read: Range 10 to 50 :    18.8 m (trip time 12.5 ms) speed 0.4

2025-10-25T04:06:14.599Z,1761365174.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883446,0.460560,-0.086073],[-0.468031,0.875985,-0.116609],[0.021694,0.143302,0.989441]]
2025-10-25T04:06:14.601Z,1761365174.601 [DAT](INFO): DAT read: 04:06:13.6402 LVL= 16240, 29025, 18386, 29891, AGC= 54, IDX= 506, 0.40,-0.572,-1.987,-0.719,-0.917, PHS= 0.433,-1.023, 0.194, RAW= 141.2,   5.9, CAL= 144.6,  -2.0, ROT=   5.4,   2.0

2025-10-25T04:06:14.602Z,1761365174.602 [DAT](INFO): got valid direction response:
 04:06:13.6402 LVL= 16240, 29025, 18386, 29891, AGC= 54, IDX= 506, 0.40,-0.572,-1.987,-0.719,-0.917, PHS= 0.433,-1.023, 0.194, RAW= 141.2,   5.9, CAL= 144.6,  -2.0, ROT=   5.4,   2.0

2025-10-25T04:06:14.602Z,1761365174.602 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-25T04:06:14.603Z,1761365174.603 [DAT](INFO): direction in FSK: [0.994955,0.094051,-0.034899]
2025-10-25T04:06:14.603Z,1761365174.603 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:14.626Z,1761365174.626 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.142899
2025-10-25T04:06:14.707Z,1761365174.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 0.507170 s,
      deltaX: -0.100000 m,
      approachRate: -0.197173 m/s,
      rangeRepo size: 4

2025-10-25T04:06:14.718Z,1761365174.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.709448 m,
      bearing: 337.715027 deg,
      lat: 36.779469 deg,
      lon: -121.859713 deg,
      deltaT: 0.507170 s,
      deltaX: -0.100620 m,
      approachRate: -0.198396 m/s,
      posRepo size: 4

2025-10-25T04:06:14.718Z,1761365174.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m.
2025-10-25T04:06:14.725Z,1761365174.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.709448 m,
      nav range: 18.593641 m,
      bearing: 339.762966 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 333.446038 deg,
      new cmd heading: 333.617615 deg.

2025-10-25T04:06:14.726Z,1761365174.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822726 target range: 18.709448 and range: 18.80 m.
2025-10-25T04:06:14.802Z,1761365174.802 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.318844
2025-10-25T04:06:15.030Z,1761365175.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886381,0.455109,-0.084880],[-0.462497,0.878660,-0.118545],[0.020630,0.144333,0.989314]]
2025-10-25T04:06:15.054Z,1761365175.054 [DAT](INFO): DAT read: Rx Time:04:06:14.1401 

2025-10-25T04:06:15.055Z,1761365175.055 [DAT](INFO): Rx dataTimestamp_ set to:1761365175.054680
2025-10-25T04:06:15.056Z,1761365175.056 [DAT](INFO): DAT read: Bearing   4.0,   1.2 (Local)

2025-10-25T04:06:15.057Z,1761365175.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,   1.2 (Local)

2025-10-25T04:06:15.059Z,1761365175.059 [DAT](INFO): DAT read: Range 10 to 50 :    18.6 m (trip time 12.4 ms) speed 0.4

2025-10-25T04:06:15.065Z,1761365175.065 [DAT](INFO): DAT read: 04:06:14.1401 LVL= 15440, 26737, 16242, 26835, AGC= 54, IDX= 506,-0.07,-0.599,-2.010,-0.692,-0.900, PHS= 0.389,-1.064, 0.205, RAW= 143.3,   6.9, CAL= 146.0,  -1.2, ROT=   4.0,   1.2

2025-10-25T04:06:15.066Z,1761365175.066 [DAT](INFO): got valid direction response:
 04:06:14.1401 LVL= 15440, 26737, 16242, 26835, AGC= 54, IDX= 506,-0.07,-0.599,-2.010,-0.692,-0.900, PHS= 0.389,-1.064, 0.205, RAW= 143.3,   6.9, CAL= 146.0,  -1.2, ROT=   4.0,   1.2

2025-10-25T04:06:15.067Z,1761365175.067 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-25T04:06:15.067Z,1761365175.067 [DAT](INFO): direction in FSK: [0.997345,0.069741,-0.020942]
2025-10-25T04:06:15.068Z,1761365175.068 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:15.076Z,1761365175.076 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.592793
2025-10-25T04:06:15.112Z,1761365175.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.500150 s,
      deltaX: -0.199999 m,
      approachRate: -0.399878 m/s,
      rangeRepo size: 4

2025-10-25T04:06:15.118Z,1761365175.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.510412 m,
      bearing: 336.576301 deg,
      lat: 36.779468 deg,
      lon: -121.859716 deg,
      deltaT: 0.500150 s,
      deltaX: -0.199036 m,
      approachRate: -0.397952 m/s,
      posRepo size: 4

2025-10-25T04:06:15.119Z,1761365175.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m.
2025-10-25T04:06:15.126Z,1761365175.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.510412 m,
      nav range: 18.404829 m,
      bearing: 338.695038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.116221 deg/s,
      cmd heading: 333.617612 deg,
      new cmd heading: 333.758237 deg.

2025-10-25T04:06:15.127Z,1761365175.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825180 target range: 18.510412 and range: 18.60 m.
2025-10-25T04:06:15.310Z,1761365175.310 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.827118
2025-10-25T04:06:15.455Z,1761365175.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889338,0.449381,-0.084466],[-0.456813,0.881278,-0.121128],[0.020006,0.146309,0.989037]]
2025-10-25T04:06:15.568Z,1761365175.568 [DAT](INFO): DAT read: Rx Time:04:06:14.6399 

2025-10-25T04:06:15.569Z,1761365175.569 [DAT](INFO): Rx dataTimestamp_ set to:1761365175.568238
2025-10-25T04:06:15.573Z,1761365175.573 [DAT](INFO): DAT read: Bearing   2.5,   2.4 (Local)

2025-10-25T04:06:15.575Z,1761365175.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   2.4 (Local)

2025-10-25T04:06:15.594Z,1761365175.594 [DAT](INFO): DAT read: Range 10 to 50 :    18.3 m (trip time 12.2 ms) speed 0.4

2025-10-25T04:06:15.601Z,1761365175.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:15.603Z,1761365175.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m.
2025-10-25T04:06:15.607Z,1761365175.607 [DAT](INFO): DAT read: 04:06:14.6399 LVL= 15856, 25457, 17362, 26483, AGC= 54, IDX= 503, 0.33,-0.624,-2.066,-0.674,-0.936, PHS= 0.400,-1.083, 0.259, RAW= 145.1,   6.0, CAL= 147.5,  -2.4, ROT=   2.5,   2.4

2025-10-25T04:06:15.618Z,1761365175.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.510412 m,
      nav range: 18.188931 m,
      bearing: 338.634492 deg,
      approach rate: -0.437649 m/s,
      LOS rate: -0.124190 deg/s,
      cmd heading: 333.758232 deg,
      new cmd heading: 333.574439 deg.

2025-10-25T04:06:15.619Z,1761365175.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821972 target range: 18.510412 and range: 18.60 m.
2025-10-25T04:06:15.621Z,1761365175.621 [DAT](INFO): got valid direction response:
 04:06:14.6399 LVL= 15856, 25457, 17362, 26483, AGC= 54, IDX= 503, 0.33,-0.624,-2.066,-0.674,-0.936, PHS= 0.400,-1.083, 0.259, RAW= 145.1,   6.0, CAL= 147.5,  -2.4, ROT=   2.5,   2.4

2025-10-25T04:06:15.621Z,1761365175.621 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-10-25T04:06:15.622Z,1761365175.622 [DAT](INFO): direction in FSK: [0.998172,0.043581,-0.041876]
2025-10-25T04:06:15.622Z,1761365175.622 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:15.636Z,1761365175.636 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.153099
2025-10-25T04:06:15.814Z,1761365175.814 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.330891
2025-10-25T04:06:15.964Z,1761365175.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893819,0.441599,-0.077959],[-0.447999,0.886969,-0.112175],[0.019610,0.135190,0.990626]]
2025-10-25T04:06:16.066Z,1761365176.066 [DAT](INFO): DAT read: Rx Time:04:06:15.1398 

2025-10-25T04:06:16.067Z,1761365176.067 [DAT](INFO): Rx dataTimestamp_ set to:1761365176.066543
2025-10-25T04:06:16.068Z,1761365176.068 [DAT](INFO): DAT read: Bearing   1.5,   1.5 (Local)

2025-10-25T04:06:16.069Z,1761365176.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   1.5 (Local)

2025-10-25T04:06:16.071Z,1761365176.071 [DAT](INFO): DAT read: Range 10 to 50 :    18.2 m (trip time 12.1 ms) speed 0.4

2025-10-25T04:06:16.076Z,1761365176.076 [DAT](INFO): DAT read: 04:06:15.1398 LVL= 18192, 27857, 17698, 29331, AGC= 54, IDX= 503,-0.08,-1.040,-2.435,-1.042,-1.300, PHS= 0.348,-1.088, 0.255, RAW= 146.7,   7.0, CAL= 148.5,  -1.5, ROT=   1.5,   1.5

2025-10-25T04:06:16.077Z,1761365176.077 [DAT](INFO): got valid direction response:
 04:06:15.1398 LVL= 18192, 27857, 17698, 29331, AGC= 54, IDX= 503,-0.08,-1.040,-2.435,-1.042,-1.300, PHS= 0.348,-1.088, 0.255, RAW= 146.7,   7.0, CAL= 148.5,  -1.5, ROT=   1.5,   1.5

2025-10-25T04:06:16.078Z,1761365176.078 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-10-25T04:06:16.079Z,1761365176.079 [DAT](INFO): direction in FSK: [0.999315,0.026168,-0.026177]
2025-10-25T04:06:16.079Z,1761365176.079 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:16.083Z,1761365176.083 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.600479
2025-10-25T04:06:16.108Z,1761365176.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 1.011863 s,
      deltaX: -0.400000 m,
      approachRate: -0.395310 m/s,
      rangeRepo size: 4

2025-10-25T04:06:16.114Z,1761365176.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.111874 m,
      bearing: 335.067725 deg,
      lat: 36.779467 deg,
      lon: -121.859720 deg,
      deltaT: 1.011863 s,
      deltaX: -0.398539 m,
      approachRate: -0.393866 m/s,
      posRepo size: 4

2025-10-25T04:06:16.115Z,1761365176.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m.
2025-10-25T04:06:16.122Z,1761365176.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.111874 m,
      nav range: 18.066837 m,
      bearing: 337.515800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.124190 deg/s,
      cmd heading: 333.574445 deg,
      new cmd heading: 333.386633 deg.

2025-10-25T04:06:16.123Z,1761365176.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818695 target range: 18.111874 and range: 18.20 m.
2025-10-25T04:06:16.318Z,1761365176.318 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.834873
2025-10-25T04:06:16.426Z,1761365176.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m.
2025-10-25T04:06:16.435Z,1761365176.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.111874 m,
      nav range: 17.923119 m,
      bearing: 337.475570 deg,
      approach rate: -0.450406 m/s,
      LOS rate: -0.127088 deg/s,
      cmd heading: 333.386642 deg,
      new cmd heading: 333.264986 deg.

2025-10-25T04:06:16.441Z,1761365176.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816571 target range: 18.111874 and range: 18.20 m.
2025-10-25T04:06:16.575Z,1761365176.575 [DAT](INFO): DAT read: Rx Time:04:06:15.6396 

2025-10-25T04:06:16.578Z,1761365176.578 [DAT](INFO): Rx dataTimestamp_ set to:1761365176.576013
2025-10-25T04:06:16.582Z,1761365176.582 [DAT](INFO): DAT read: Bearing 359.8,   3.2 (Local)

2025-10-25T04:06:16.583Z,1761365176.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   3.2 (Local)

2025-10-25T04:06:16.626Z,1761365176.626 [DAT](INFO): DAT read: Range 10 to 50 :    17.9 m (trip time 11.9 ms) speed 0.4

2025-10-25T04:06:16.646Z,1761365176.646 [DAT](INFO): DAT read: 04:06:15.6396 LVL= 17984, 30625, 20466, 32755, AGC= 55, IDX= 500, 0.30,-0.361,-1.803,-0.319,-0.649, PHS= 0.376,-1.107, 0.327, RAW= 148.3,   5.6, CAL= 150.2,  -3.2, ROT= 359.8,   3.2

2025-10-25T04:06:16.647Z,1761365176.647 [DAT](INFO): got valid direction response:
 04:06:15.6396 LVL= 17984, 30625, 20466, 32755, AGC= 55, IDX= 500, 0.30,-0.361,-1.803,-0.319,-0.649, PHS= 0.376,-1.107, 0.327, RAW= 148.3,   5.6, CAL= 150.2,  -3.2, ROT= 359.8,   3.2

2025-10-25T04:06:16.648Z,1761365176.648 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-10-25T04:06:16.655Z,1761365176.655 [DAT](INFO): direction in FSK: [0.998435,-0.003485,-0.055822]
2025-10-25T04:06:16.655Z,1761365176.655 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:16.659Z,1761365176.659 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.176540
2025-10-25T04:06:16.725Z,1761365176.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895499,0.438857,-0.074071],[-0.444639,0.889435,-0.105839],[0.019433,0.127713,0.991621]]
2025-10-25T04:06:16.822Z,1761365176.822 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.338875
2025-10-25T04:06:16.839Z,1761365176.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.509470 s,
      deltaX: -0.300001 m,
      approachRate: -0.588849 m/s,
      rangeRepo size: 4

2025-10-25T04:06:16.849Z,1761365176.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.813591 m,
      bearing: 333.804995 deg,
      lat: 36.779466 deg,
      lon: -121.859723 deg,
      deltaT: 0.509470 s,
      deltaX: -0.298283 m,
      approachRate: -0.585476 m/s,
      posRepo size: 4

2025-10-25T04:06:16.850Z,1761365176.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m.
2025-10-25T04:06:16.877Z,1761365176.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.813591 m,
      nav range: 17.687744 m,
      bearing: 336.300180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.127088 deg/s,
      cmd heading: 333.264983 deg,
      new cmd heading: 333.107949 deg.

2025-10-25T04:06:16.893Z,1761365176.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813830 target range: 17.813591 and range: 17.90 m.
2025-10-25T04:06:17.074Z,1761365177.074 [DAT](INFO): DAT read: Rx Time:04:06:16.1394 

2025-10-25T04:06:17.075Z,1761365177.075 [DAT](INFO): Rx dataTimestamp_ set to:1761365177.074439
2025-10-25T04:06:17.076Z,1761365177.076 [DAT](INFO): DAT read: Bearing 359.3,   1.8 (Local)

2025-10-25T04:06:17.076Z,1761365177.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,   1.8 (Local)

2025-10-25T04:06:17.080Z,1761365177.080 [DAT](INFO): DAT read: Range 10 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-10-25T04:06:17.085Z,1761365177.085 [DAT](INFO): DAT read: 04:06:16.1394 LVL= 17984, 30913, 18930, 32755, AGC= 54, IDX= 499,-0.11,-2.639, 2.274,-2.561,-2.863, PHS= 0.311,-1.100, 0.299, RAW= 149.6,   7.0, CAL= 150.7,  -1.8, ROT= 359.3,   1.8

2025-10-25T04:06:17.086Z,1761365177.086 [DAT](INFO): got valid direction response:
 04:06:16.1394 LVL= 17984, 30913, 18930, 32755, AGC= 54, IDX= 499,-0.11,-2.639, 2.274,-2.561,-2.863, PHS= 0.311,-1.100, 0.299, RAW= 149.6,   7.0, CAL= 150.7,  -1.8, ROT= 359.3,   1.8

2025-10-25T04:06:17.086Z,1761365177.086 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-10-25T04:06:17.087Z,1761365177.087 [DAT](INFO): direction in FSK: [0.999432,-0.012211,-0.031411]
2025-10-25T04:06:17.087Z,1761365177.087 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:17.117Z,1761365177.117 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.634583
2025-10-25T04:06:17.131Z,1761365177.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898792,0.432711,-0.070250],[-0.437880,0.893794,-0.096918],[0.020851,0.117871,0.992810]]
2025-10-25T04:06:17.176Z,1761365177.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.498426 s,
      deltaX: -0.299999 m,
      approachRate: -0.601893 m/s,
      rangeRepo size: 4

2025-10-25T04:06:17.182Z,1761365177.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.515039 m,
      bearing: 333.542615 deg,
      lat: 36.779465 deg,
      lon: -121.859728 deg,
      deltaT: 0.498426 s,
      deltaX: -0.298552 m,
      approachRate: -0.598989 m/s,
      posRepo size: 4

2025-10-25T04:06:17.183Z,1761365177.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.52 m.
2025-10-25T04:06:17.190Z,1761365177.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.515039 m,
      nav range: 17.591005 m,
      bearing: 334.871609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.127088 deg/s,
      cmd heading: 333.107943 deg,
      new cmd heading: 332.979455 deg.

2025-10-25T04:06:17.191Z,1761365177.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811588 target range: 17.515039 and range: 17.60 m.
2025-10-25T04:06:17.327Z,1761365177.327 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.843407
2025-10-25T04:06:17.583Z,1761365177.583 [DAT](INFO): DAT read: Rx Time:04:06:16.6392 

2025-10-25T04:06:17.585Z,1761365177.585 [DAT](INFO): Rx dataTimestamp_ set to:1761365177.583559
2025-10-25T04:06:17.591Z,1761365177.591 [DAT](INFO): DAT read: Bearing 357.9,   3.4 (Local)

2025-10-25T04:06:17.593Z,1761365177.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,   3.4 (Local)

2025-10-25T04:06:17.616Z,1761365177.616 [DAT](INFO): DAT read: Range 10 to 50 :    17.3 m (trip time 11.5 ms) speed 0.4

2025-10-25T04:06:17.623Z,1761365177.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900448,0.429301,-0.069963],[-0.434444,0.895528,-0.096380],[0.021278,0.117180,0.992883]]
2025-10-25T04:06:17.642Z,1761365177.642 [DAT](INFO): DAT read: 04:06:16.6392 LVL= 16752, 31073, 18658, 32051, AGC= 54, IDX= 496, 0.28,-1.745, 3.137,-1.635,-1.998, PHS= 0.340,-1.101, 0.360, RAW= 150.7,   5.6, CAL= 152.1,  -3.4, ROT= 357.9,   3.4

2025-10-25T04:06:17.643Z,1761365177.643 [DAT](INFO): got valid direction response:
 04:06:16.6392 LVL= 16752, 31073, 18658, 32051, AGC= 54, IDX= 496, 0.28,-1.745, 3.137,-1.635,-1.998, PHS= 0.340,-1.101, 0.360, RAW= 150.7,   5.6, CAL= 152.1,  -3.4, ROT= 357.9,   3.4

2025-10-25T04:06:17.643Z,1761365177.643 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-10-25T04:06:17.653Z,1761365177.653 [DAT](INFO): direction in FSK: [0.997569,-0.036579,-0.059306]
2025-10-25T04:06:17.653Z,1761365177.653 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:17.665Z,1761365177.665 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.182041
2025-10-25T04:06:17.729Z,1761365177.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.509120 s,
      deltaX: -0.300001 m,
      approachRate: -0.589254 m/s,
      rangeRepo size: 4

2025-10-25T04:06:17.731Z,1761365177.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.217049 m,
      bearing: 332.558983 deg,
      lat: 36.779464 deg,
      lon: -121.859732 deg,
      deltaT: 0.509120 s,
      deltaX: -0.297991 m,
      approachRate: -0.585306 m/s,
      posRepo size: 4

2025-10-25T04:06:17.732Z,1761365177.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-25T04:06:17.748Z,1761365177.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.217049 m,
      nav range: 17.361900 m,
      bearing: 333.651070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.127088 deg/s,
      cmd heading: 332.979454 deg,
      new cmd heading: 332.769214 deg.

2025-10-25T04:06:17.757Z,1761365177.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807919 target range: 17.217049 and range: 17.30 m.
2025-10-25T04:06:17.830Z,1761365177.830 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.347206
2025-10-25T04:06:17.997Z,1761365177.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:17.999Z,1761365177.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-10-25T04:06:18.007Z,1761365178.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.217049 m,
      nav range: 17.222317 m,
      bearing: 333.605426 deg,
      approach rate: -0.512292 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 332.769221 deg,
      new cmd heading: 332.631178 deg.

2025-10-25T04:06:18.008Z,1761365178.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805509 target range: 17.217049 and range: 17.30 m.
2025-10-25T04:06:18.083Z,1761365178.083 [DAT](INFO): DAT read: Rx Time:04:06:17.1391 

2025-10-25T04:06:18.084Z,1761365178.084 [DAT](INFO): Rx dataTimestamp_ set to:1761365178.083606
2025-10-25T04:06:18.086Z,1761365178.086 [DAT](INFO): DAT read: Bearing 357.3,  -5.1 (Local)

2025-10-25T04:06:18.087Z,1761365178.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  -5.1 (Local)

2025-10-25T04:06:18.090Z,1761365178.090 [DAT](INFO): DAT read: Range 10 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-10-25T04:06:18.098Z,1761365178.098 [DAT](INFO): DAT read: 04:06:17.1391 LVL= 18400, 28465, 18242, 29059, AGC= 55, IDX= 512,-0.13,-1.567, 2.836,-1.400,-1.672, PHS= 0.193,-1.729, 0.268, RAW= 151.9,  12.9, CAL= 152.7,   5.1, ROT= 357.3,  -5.1

2025-10-25T04:06:18.099Z,1761365178.099 [DAT](INFO): got valid direction response:
 04:06:17.1391 LVL= 18400, 28465, 18242, 29059, AGC= 55, IDX= 512,-0.13,-1.567, 2.836,-1.400,-1.672, PHS= 0.193,-1.729, 0.268, RAW= 151.9,  12.9, CAL= 152.7,   5.1, ROT= 357.3,  -5.1

2025-10-25T04:06:18.100Z,1761365178.100 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-10-25T04:06:18.102Z,1761365178.102 [DAT](INFO): direction in FSK: [0.994935,-0.046920,0.088894]
2025-10-25T04:06:18.103Z,1761365178.103 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:18.108Z,1761365178.108 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.624847
2025-10-25T04:06:18.334Z,1761365178.334 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.851238
2025-10-25T04:06:18.343Z,1761365178.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903704,0.422273,-0.070741],[-0.427569,0.898720,-0.097403],[0.022446,0.118270,0.992728]]
2025-10-25T04:06:18.434Z,1761365178.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.500047 s,
      deltaX: -0.199999 m,
      approachRate: -0.399960 m/s,
      rangeRepo size: 4

2025-10-25T04:06:18.436Z,1761365178.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.018261 m,
      bearing: 331.387791 deg,
      lat: 36.779463 deg,
      lon: -121.859732 deg,
      deltaT: 0.500047 s,
      deltaX: -0.198788 m,
      approachRate: -0.397538 m/s,
      posRepo size: 4

2025-10-25T04:06:18.441Z,1761365178.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m.
2025-10-25T04:06:18.444Z,1761365178.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.018261 m,
      nav range: 16.915955 m,
      bearing: 333.327443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 332.631169 deg,
      new cmd heading: 332.413880 deg.

2025-10-25T04:06:18.449Z,1761365178.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801717 target range: 17.018261 and range: 17.10 m.
2025-10-25T04:06:18.590Z,1761365178.590 [DAT](INFO): DAT read: Rx Time:04:06:17.6389 

2025-10-25T04:06:18.592Z,1761365178.592 [DAT](INFO): Rx dataTimestamp_ set to:1761365178.590791
2025-10-25T04:06:18.596Z,1761365178.596 [DAT](INFO): DAT read: Bearing 355.8,   3.8 (Local)

2025-10-25T04:06:18.598Z,1761365178.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   3.8 (Local)

2025-10-25T04:06:18.610Z,1761365178.610 [DAT](INFO): DAT read: Range 10 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-10-25T04:06:18.655Z,1761365178.655 [DAT](INFO): DAT read: 04:06:17.6389 LVL= 16224, 31537, 18258, 32659, AGC= 54, IDX= 509, 0.25,-1.185,-2.576,-1.008,-1.418, PHS= 0.322,-1.110, 0.407, RAW= 152.9,   5.2, CAL= 154.2,  -3.8, ROT= 355.8,   3.8

2025-10-25T04:06:18.656Z,1761365178.656 [DAT](INFO): got valid direction response:
 04:06:17.6389 LVL= 16224, 31537, 18258, 32659, AGC= 54, IDX= 509, 0.25,-1.185,-2.576,-1.008,-1.418, PHS= 0.322,-1.110, 0.407, RAW= 152.9,   5.2, CAL= 154.2,  -3.8, ROT= 355.8,   3.8

2025-10-25T04:06:18.656Z,1761365178.656 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-10-25T04:06:18.662Z,1761365178.662 [DAT](INFO): direction in FSK: [0.995122,-0.073077,-0.066274]
2025-10-25T04:06:18.662Z,1761365178.662 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:18.670Z,1761365178.670 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.187271
2025-10-25T04:06:18.745Z,1761365178.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904879,0.419548,-0.071921],[-0.425039,0.899732,-0.099117],[0.023125,0.120259,0.992473]]
2025-10-25T04:06:18.838Z,1761365178.838 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.354706
2025-10-25T04:06:18.851Z,1761365178.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.507185 s,
      deltaX: -0.300001 m,
      approachRate: -0.591502 m/s,
      rangeRepo size: 4

2025-10-25T04:06:18.864Z,1761365178.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.719694 m,
      bearing: 331.132280 deg,
      lat: 36.779461 deg,
      lon: -121.859734 deg,
      deltaT: 0.507185 s,
      deltaX: -0.298567 m,
      approachRate: -0.588674 m/s,
      posRepo size: 4

2025-10-25T04:06:18.871Z,1761365178.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-25T04:06:18.900Z,1761365178.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.719694 m,
      nav range: 16.641300 m,
      bearing: 332.361656 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 332.413887 deg,
      new cmd heading: 332.199840 deg.

2025-10-25T04:06:18.907Z,1761365178.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797981 target range: 16.719694 and range: 16.80 m.
2025-10-25T04:06:19.092Z,1761365179.092 [DAT](INFO): DAT read: Rx Time:04:06:18.1389 

2025-10-25T04:06:19.092Z,1761365179.092 [DAT](INFO): Rx dataTimestamp_ set to:1761365179.092020
2025-10-25T04:06:19.094Z,1761365179.094 [DAT](INFO): DAT read: Bearing 354.6,   2.8 (Local)

2025-10-25T04:06:19.095Z,1761365179.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,   2.8 (Local)

2025-10-25T04:06:19.098Z,1761365179.098 [DAT](INFO): DAT read: Range 10 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-10-25T04:06:19.102Z,1761365179.102 [DAT](INFO): DAT read: 04:06:18.1389 LVL= 18208, 32065, 16802, 31459, AGC= 55, IDX= 509,-0.21,-1.918, 3.018,-1.690,-2.093, PHS= 0.264,-1.125, 0.401, RAW= 154.7,   6.4, CAL= 155.4,  -2.8, ROT= 354.6,   2.8

2025-10-25T04:06:19.103Z,1761365179.103 [DAT](INFO): got valid direction response:
 04:06:18.1389 LVL= 18208, 32065, 16802, 31459, AGC= 55, IDX= 509,-0.21,-1.918, 3.018,-1.690,-2.093, PHS= 0.264,-1.125, 0.401, RAW= 154.7,   6.4, CAL= 155.4,  -2.8, ROT= 354.6,   2.8

2025-10-25T04:06:19.104Z,1761365179.104 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-10-25T04:06:19.105Z,1761365179.105 [DAT](INFO): direction in FSK: [0.994373,-0.093996,-0.048850]
2025-10-25T04:06:19.105Z,1761365179.105 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:19.109Z,1761365179.109 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.625591
2025-10-25T04:06:19.209Z,1761365179.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905645,0.417867,-0.072064],[-0.423388,0.900497,-0.099233],[0.023427,0.120381,0.992451]]
2025-10-25T04:06:19.274Z,1761365179.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.501229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:19.281Z,1761365179.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.719694 m,
      bearing: 329.924869 deg,
      lat: 36.779461 deg,
      lon: -121.859738 deg,
      deltaT: 0.501229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:19.282Z,1761365179.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m.
2025-10-25T04:06:19.305Z,1761365179.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.719694 m,
      nav range: 16.490845 m,
      bearing: 331.257957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 332.199829 deg,
      new cmd heading: 331.988119 deg.

2025-10-25T04:06:19.307Z,1761365179.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794286 target range: 16.719694 and range: 16.80 m.
2025-10-25T04:06:19.342Z,1761365179.342 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.858791
2025-10-25T04:06:19.599Z,1761365179.599 [DAT](INFO): DAT read: Rx Time:04:06:18.6386 

2025-10-25T04:06:19.601Z,1761365179.601 [DAT](INFO): Rx dataTimestamp_ set to:1761365179.599487
2025-10-25T04:06:19.605Z,1761365179.605 [DAT](INFO): DAT read: Bearing 354.0,   3.7 (Local)

2025-10-25T04:06:19.607Z,1761365179.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.0,   3.7 (Local)

2025-10-25T04:06:19.614Z,1761365179.614 [DAT](INFO): DAT read: Range 10 to 50 :    16.4 m (trip time 10.9 ms) speed 0.4

2025-10-25T04:06:19.653Z,1761365179.653 [DAT](INFO): DAT read: 04:06:18.6386 LVL= 17184, 29137, 17858, 29651, AGC= 55, IDX= 506, 0.12,-0.975,-2.365,-0.734,-1.179, PHS= 0.292,-1.139, 0.443, RAW= 154.9,   5.4, CAL= 156.0,  -3.7, ROT= 354.0,   3.7

2025-10-25T04:06:19.654Z,1761365179.654 [DAT](INFO): got valid direction response:
 04:06:18.6386 LVL= 17184, 29137, 17858, 29651, AGC= 55, IDX= 506, 0.12,-0.975,-2.365,-0.734,-1.179, PHS= 0.292,-1.139, 0.443, RAW= 154.9,   5.4, CAL= 156.0,  -3.7, ROT= 354.0,   3.7

2025-10-25T04:06:19.655Z,1761365179.655 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-10-25T04:06:19.656Z,1761365179.656 [DAT](INFO): direction in FSK: [0.992449,-0.104311,-0.064532]
2025-10-25T04:06:19.656Z,1761365179.656 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:19.668Z,1761365179.668 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.185032
2025-10-25T04:06:19.671Z,1761365179.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905991,0.417205,-0.071560],[-0.422631,0.901030,-0.097612],[0.023753,0.118679,0.992648]]
2025-10-25T04:06:19.846Z,1761365179.846 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.363224
2025-10-25T04:06:19.859Z,1761365179.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.507467 s,
      deltaX: -0.400000 m,
      approachRate: -0.788228 m/s,
      rangeRepo size: 4

2025-10-25T04:06:19.872Z,1761365179.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.321415 m,
      bearing: 329.480091 deg,
      lat: 36.779460 deg,
      lon: -121.859738 deg,
      deltaT: 0.507467 s,
      deltaX: -0.398279 m,
      approachRate: -0.784838 m/s,
      posRepo size: 4

2025-10-25T04:06:19.882Z,1761365179.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m.
2025-10-25T04:06:19.917Z,1761365179.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.321415 m,
      nav range: 16.211628 m,
      bearing: 331.043679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 331.988120 deg,
      new cmd heading: 331.689252 deg.

2025-10-25T04:06:19.920Z,1761365179.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789070 target range: 16.321415 and range: 16.40 m.
2025-10-25T04:06:20.098Z,1761365180.098 [DAT](INFO): DAT read: Rx Time:04:06:19.1386 

2025-10-25T04:06:20.099Z,1761365180.099 [DAT](INFO): Rx dataTimestamp_ set to:1761365180.098626
2025-10-25T04:06:20.100Z,1761365180.100 [DAT](INFO): DAT read: Bearing 353.9,   3.1 (Local)

2025-10-25T04:06:20.101Z,1761365180.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   3.1 (Local)

2025-10-25T04:06:20.103Z,1761365180.103 [DAT](INFO): DAT read: Range 10 to 50 :    16.4 m (trip time 10.9 ms) speed 0.4

2025-10-25T04:06:20.108Z,1761365180.108 [DAT](INFO): DAT read: 04:06:19.1386 LVL= 17392, 32017, 17906, 30947, AGC= 55, IDX= 506,-0.39,-1.401,-2.749,-1.149,-1.573, PHS= 0.260,-1.129, 0.421, RAW= 155.4,   6.1, CAL= 156.1,  -3.1, ROT= 353.9,   3.1

2025-10-25T04:06:20.109Z,1761365180.109 [DAT](INFO): got valid direction response:
 04:06:19.1386 LVL= 17392, 32017, 17906, 30947, AGC= 55, IDX= 506,-0.39,-1.401,-2.749,-1.149,-1.573, PHS= 0.260,-1.129, 0.421, RAW= 155.4,   6.1, CAL= 156.1,  -3.1, ROT= 353.9,   3.1

2025-10-25T04:06:20.109Z,1761365180.109 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-10-25T04:06:20.111Z,1761365180.111 [DAT](INFO): direction in FSK: [0.992883,-0.106109,-0.054079]
2025-10-25T04:06:20.112Z,1761365180.112 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:20.116Z,1761365180.116 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.632923
2025-10-25T04:06:20.339Z,1761365180.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.499139 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:20.350Z,1761365180.350 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.866993
2025-10-25T04:06:20.353Z,1761365180.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.321051 m,
      bearing: 329.308410 deg,
      lat: 36.779460 deg,
      lon: -121.859743 deg,
      deltaT: 0.499139 s,
      deltaX: -0.000364 m,
      approachRate: -0.000730 m/s,
      posRepo size: 4

2025-10-25T04:06:20.354Z,1761365180.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m.
2025-10-25T04:06:20.358Z,1761365180.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.321051 m,
      nav range: 16.182482 m,
      bearing: 329.788446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 331.689258 deg,
      new cmd heading: 331.446254 deg.

2025-10-25T04:06:20.359Z,1761365180.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784829 target range: 16.321051 and range: 16.40 m.
2025-10-25T04:06:20.602Z,1761365180.602 [DAT](INFO): DAT read: Rx Time:04:06:19.6383 

2025-10-25T04:06:20.603Z,1761365180.603 [DAT](INFO): Rx dataTimestamp_ set to:1761365180.602470
2025-10-25T04:06:20.604Z,1761365180.604 [DAT](INFO): DAT read: Bearing 353.4,   2.8 (Local)

2025-10-25T04:06:20.605Z,1761365180.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.4,   2.8 (Local)

2025-10-25T04:06:20.607Z,1761365180.607 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-10-25T04:06:20.613Z,1761365180.613 [DAT](INFO): DAT read: 04:06:19.6383 LVL= 17168, 32289, 17458, 30819, AGC= 55, IDX= 503,-0.04,-2.335, 2.611,-2.065,-2.489, PHS= 0.242,-1.136, 0.422, RAW= 156.0,   6.4, CAL= 156.6,  -2.8, ROT= 353.4,   2.8

2025-10-25T04:06:20.617Z,1761365180.617 [DAT](INFO): got valid direction response:
 04:06:19.6383 LVL= 17168, 32289, 17458, 30819, AGC= 55, IDX= 503,-0.04,-2.335, 2.611,-2.065,-2.489, PHS= 0.242,-1.136, 0.422, RAW= 156.0,   6.4, CAL= 156.6,  -2.8, ROT= 353.4,   2.8

2025-10-25T04:06:20.618Z,1761365180.618 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-10-25T04:06:20.634Z,1761365180.634 [DAT](INFO): direction in FSK: [0.992187,-0.114800,-0.048850]
2025-10-25T04:06:20.635Z,1761365180.635 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:20.684Z,1761365180.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905582,0.418579,-0.068656],[-0.423480,0.901424,-0.089992],[0.024219,0.110570,0.993573]]
2025-10-25T04:06:20.687Z,1761365180.687 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.204193
2025-10-25T04:06:20.801Z,1761365180.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503844 s,
      deltaX: -0.500000 m,
      approachRate: -0.992371 m/s,
      rangeRepo size: 4

2025-10-25T04:06:20.803Z,1761365180.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.823458 m,
      bearing: 328.693339 deg,
      lat: 36.779460 deg,
      lon: -121.859743 deg,
      deltaT: 0.503844 s,
      deltaX: -0.497593 m,
      approachRate: -0.987593 m/s,
      posRepo size: 4

2025-10-25T04:06:20.803Z,1761365180.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m.
2025-10-25T04:06:20.811Z,1761365180.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.823458 m,
      nav range: 15.916773 m,
      bearing: 329.625350 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 331.446268 deg,
      new cmd heading: 331.214765 deg.

2025-10-25T04:06:20.817Z,1761365180.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780788 target range: 15.823458 and range: 15.90 m.
2025-10-25T04:06:20.854Z,1761365180.854 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.370808
2025-10-25T04:06:21.106Z,1761365181.106 [DAT](INFO): DAT read: Rx Time:04:06:20.1382 

2025-10-25T04:06:21.107Z,1761365181.107 [DAT](INFO): Rx dataTimestamp_ set to:1761365181.106503
2025-10-25T04:06:21.108Z,1761365181.108 [DAT](INFO): DAT read: Bearing 353.8,   3.8 (Local)

2025-10-25T04:06:21.109Z,1761365181.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   3.8 (Local)

2025-10-25T04:06:21.112Z,1761365181.112 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.4

2025-10-25T04:06:21.117Z,1761365181.117 [DAT](INFO): DAT read: 04:06:20.1382 LVL= 17744, 32753, 19170, 32755, AGC= 55, IDX= 501, 0.22,-0.444,-1.809,-0.198,-0.642, PHS= 0.286,-1.120, 0.441, RAW= 155.2,   5.3, CAL= 156.2,  -3.8, ROT= 353.8,   3.8

2025-10-25T04:06:21.118Z,1761365181.118 [DAT](INFO): got valid direction response:
 04:06:20.1382 LVL= 17744, 32753, 19170, 32755, AGC= 55, IDX= 501, 0.22,-0.444,-1.809,-0.198,-0.642, PHS= 0.286,-1.120, 0.441, RAW= 155.2,   5.3, CAL= 156.2,  -3.8, ROT= 353.8,   3.8

2025-10-25T04:06:21.118Z,1761365181.118 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-10-25T04:06:21.119Z,1761365181.119 [DAT](INFO): direction in FSK: [0.991965,-0.107762,-0.066274]
2025-10-25T04:06:21.120Z,1761365181.120 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:21.123Z,1761365181.123 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.640575
2025-10-25T04:06:21.130Z,1761365181.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904777,0.420952,-0.064644],[-0.425249,0.901254,-0.083091],[0.023284,0.102669,0.994443]]
2025-10-25T04:06:21.193Z,1761365181.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504033 s,
      deltaX: -0.099999 m,
      approachRate: -0.198399 m/s,
      rangeRepo size: 4

2025-10-25T04:06:21.201Z,1761365181.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.723940 m,
      bearing: 329.056451 deg,
      lat: 36.779460 deg,
      lon: -121.859744 deg,
      deltaT: 0.504033 s,
      deltaX: -0.099518 m,
      approachRate: -0.197443 m/s,
      posRepo size: 4

2025-10-25T04:06:21.202Z,1761365181.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-25T04:06:21.204Z,1761365181.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.723940 m,
      nav range: 15.701102 m,
      bearing: 329.056498 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.168880 deg/s,
      cmd heading: 331.214751 deg,
      new cmd heading: 331.015469 deg.

2025-10-25T04:06:21.210Z,1761365181.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777310 target range: 15.723940 and range: 15.80 m.
2025-10-25T04:06:21.358Z,1761365181.358 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.874954
2025-10-25T04:06:21.485Z,1761365181.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903939,0.423260,-0.061193],[-0.427078,0.900887,-0.077503],[0.022324,0.096192,0.995112]]
2025-10-25T04:06:21.538Z,1761365181.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:21.550Z,1761365181.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m.
2025-10-25T04:06:21.557Z,1761365181.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.723940 m,
      nav range: 15.525516 m,
      bearing: 329.035584 deg,
      approach rate: -0.485858 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 331.015474 deg,
      new cmd heading: 330.952023 deg.

2025-10-25T04:06:21.558Z,1761365181.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776203 target range: 15.723940 and range: 15.80 m.
2025-10-25T04:06:21.610Z,1761365181.610 [DAT](INFO): DAT read: Rx Time:04:06:20.6379 

2025-10-25T04:06:21.611Z,1761365181.611 [DAT](INFO): Rx dataTimestamp_ set to:1761365181.610900
2025-10-25T04:06:21.614Z,1761365181.614 [DAT](INFO): DAT read: Bearing 353.0,   2.7 (Local)

2025-10-25T04:06:21.615Z,1761365181.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,   2.7 (Local)

2025-10-25T04:06:21.622Z,1761365181.622 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-10-25T04:06:21.676Z,1761365181.676 [DAT](INFO): DAT read: 04:06:20.6379 LVL= 17024, 23761, 14994, 23795, AGC= 55, IDX= 499,-0.50,-2.507, 2.390,-2.213,-2.658, PHS= 0.239,-1.188, 0.442, RAW= 156.6,   6.6, CAL= 157.0,  -2.7, ROT= 353.0,   2.7

2025-10-25T04:06:21.684Z,1761365181.684 [DAT](INFO): got valid direction response:
 04:06:20.6379 LVL= 17024, 23761, 14994, 23795, AGC= 55, IDX= 499,-0.50,-2.507, 2.390,-2.213,-2.658, PHS= 0.239,-1.188, 0.442, RAW= 156.6,   6.6, CAL= 157.0,  -2.7, ROT= 353.0,   2.7

2025-10-25T04:06:21.684Z,1761365181.684 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-10-25T04:06:21.695Z,1761365181.695 [DAT](INFO): direction in FSK: [0.991444,-0.121734,-0.047106]
2025-10-25T04:06:21.695Z,1761365181.695 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:21.710Z,1761365181.710 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.226685
2025-10-25T04:06:21.865Z,1761365181.865 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.381310
2025-10-25T04:06:21.950Z,1761365181.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903017,0.425573,-0.058719],[-0.429086,0.900180,-0.074580],[0.021118,0.092543,0.995485]]
2025-10-25T04:06:22.072Z,1761365182.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504397 s,
      deltaX: -0.500000 m,
      approachRate: -0.991283 m/s,
      rangeRepo size: 4

2025-10-25T04:06:22.082Z,1761365182.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.226480 m,
      bearing: 327.869300 deg,
      lat: 36.779459 deg,
      lon: -121.859745 deg,
      deltaT: 0.504397 s,
      deltaX: -0.497460 m,
      approachRate: -0.986248 m/s,
      posRepo size: 4

2025-10-25T04:06:22.083Z,1761365182.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.23 m.
2025-10-25T04:06:22.090Z,1761365182.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.226480 m,
      nav range: 15.225595 m,
      bearing: 328.863820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 330.952035 deg,
      new cmd heading: 330.860514 deg.

2025-10-25T04:06:22.091Z,1761365182.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774605 target range: 15.226480 and range: 15.30 m.
2025-10-25T04:06:22.114Z,1761365182.114 [DAT](INFO): DAT read: Rx Time:04:06:21.1378 

2025-10-25T04:06:22.115Z,1761365182.115 [DAT](INFO): Rx dataTimestamp_ set to:1761365182.114528
2025-10-25T04:06:22.116Z,1761365182.116 [DAT](INFO): DAT read: Bearing 353.8,   2.6 (Local)

2025-10-25T04:06:22.117Z,1761365182.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   2.6 (Local)

2025-10-25T04:06:22.119Z,1761365182.119 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.5

2025-10-25T04:06:22.124Z,1761365182.124 [DAT](INFO): DAT read: 04:06:21.1378 LVL= 17072, 29777, 18210, 31219, AGC= 55, IDX= 498,-0.19,-1.421,-2.771,-1.163,-1.578, PHS= 0.245,-1.145, 0.412, RAW= 155.6,   6.7, CAL= 156.2,  -2.6, ROT= 353.8,   2.6

2025-10-25T04:06:22.125Z,1761365182.125 [DAT](INFO): got valid direction response:
 04:06:21.1378 LVL= 17072, 29777, 18210, 31219, AGC= 55, IDX= 498,-0.19,-1.421,-2.771,-1.163,-1.578, PHS= 0.245,-1.145, 0.412, RAW= 155.6,   6.7, CAL= 156.2,  -2.6, ROT= 353.8,   2.6

2025-10-25T04:06:22.125Z,1761365182.125 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-10-25T04:06:22.126Z,1761365182.126 [DAT](INFO): direction in FSK: [0.993128,-0.107888,-0.045363]
2025-10-25T04:06:22.126Z,1761365182.126 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:22.138Z,1761365182.138 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.655064
2025-10-25T04:06:22.367Z,1761365182.367 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.884220
2025-10-25T04:06:22.455Z,1761365182.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901541,0.428973,-0.056619],[-0.432238,0.898852,-0.072351],[0.019855,0.089701,0.995771]]
2025-10-25T04:06:22.527Z,1761365182.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503628 s,
      deltaX: -0.100000 m,
      approachRate: -0.198560 m/s,
      rangeRepo size: 4

2025-10-25T04:06:22.536Z,1761365182.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.127338 m,
      bearing: 328.447215 deg,
      lat: 36.779460 deg,
      lon: -121.859745 deg,
      deltaT: 0.503628 s,
      deltaX: -0.099141 m,
      approachRate: -0.196854 m/s,
      posRepo size: 4

2025-10-25T04:06:22.541Z,1761365182.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.13 m.
2025-10-25T04:06:22.543Z,1761365182.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.127338 m,
      nav range: 15.022857 m,
      bearing: 328.847769 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 330.860511 deg,
      new cmd heading: 330.780514 deg.

2025-10-25T04:06:22.544Z,1761365182.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773209 target range: 15.127338 and range: 15.20 m.
2025-10-25T04:06:22.619Z,1761365182.619 [DAT](INFO): DAT read: Rx Time:04:06:21.6375 

2025-10-25T04:06:22.620Z,1761365182.620 [DAT](INFO): Rx dataTimestamp_ set to:1761365182.619404
2025-10-25T04:06:22.622Z,1761365182.622 [DAT](INFO): DAT read: Bearing 354.9,   2.4 (Local)

2025-10-25T04:06:22.622Z,1761365182.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.9,   2.4 (Local)

2025-10-25T04:06:22.634Z,1761365182.634 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m me 9.8 ms) speed 0.5

2025-10-25T04:06:22.664Z,1761365182.664 [DAT](INFO): DAT read: 04:06:21.6375 LVL= 17232, 32753, 19522, 32755, AGC= 55, IDX= 495,-0.02,-2.330, 2.586,-2.105,-2.501, PHS= 0.259,-1.149, 0.393, RAW= 154.5,   6.8, CAL= 155.1,  -2.4, ROT= 354.9,   2.4

2025-10-25T04:06:22.672Z,1761365182.672 [DAT](INFO): got valid direction response:
 04:06:21.6375 LVL= 17232, 32753, 19522, 32755, AGC= 55, IDX= 495,-0.02,-2.330, 2.586,-2.105,-2.501, PHS= 0.259,-1.149, 0.393, RAW= 154.5,   6.8, CAL= 155.1,  -2.4, ROT= 354.9,   2.4

2025-10-25T04:06:22.682Z,1761365182.682 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-10-25T04:06:22.690Z,1761365182.690 [DAT](INFO): direction in FSK: [0.995167,-0.088816,-0.041876]
2025-10-25T04:06:22.691Z,1761365182.691 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:22.715Z,1761365182.715 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.232056
2025-10-25T04:06:22.846Z,1761365182.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900267,0.431806,-0.055337],[-0.434957,0.897498,-0.072863],[0.018203,0.089665,0.995806]]
2025-10-25T04:06:22.874Z,1761365182.874 [DAT](INFO): DAT read: Rx Time:04:06:22.1375 

2025-10-25T04:06:22.875Z,1761365182.875 [DAT](INFO): Rx dataTimestamp_ set to:1761365182.874406
2025-10-25T04:06:22.879Z,1761365182.879 [DAT](INFO): DAT read: Bearing 355.8,   2.5 (Local)

2025-10-25T04:06:22.880Z,1761365182.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,   2.5 (Local)

2025-10-25T04:06:22.883Z,1761365182.883 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.399261
2025-10-25T04:06:23.023Z,1761365183.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.504876 s,
      deltaX: -0.500000 m,
      approachRate: -0.990342 m/s,
      rangeRepo size: 4

2025-10-25T04:06:23.030Z,1761365183.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.629728 m,
      bearing: 329.351466 deg,
      lat: 36.779459 deg,
      lon: -121.859745 deg,
      deltaT: 0.504876 s,
      deltaX: -0.497610 m,
      approachRate: -0.985609 m/s,
      posRepo size: 4

2025-10-25T04:06:23.037Z,1761365183.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:06:23.040Z,1761365183.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.629728 m,
      nav range: 14.725826 m,
      bearing: 328.679302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 330.780515 deg,
      new cmd heading: 330.693452 deg.

2025-10-25T04:06:23.046Z,1761365183.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771689 target range: 14.629728 and range: 14.70 m.
2025-10-25T04:06:23.125Z,1761365183.125 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.5

2025-10-25T04:06:23.134Z,1761365183.134 [DAT](INFO): DAT read: 04:06:22.1375 LVL= 18640, 30817, 19058, 32115, AGC= 55, IDX= 510, 0.11, 0.049,-1.358, 0.241,-0.149, PHS= 0.286,-1.162, 0.386, RAW= 153.3,   6.6, CAL= 154.2,  -2.5, ROT= 355.8,   2.5

2025-10-25T04:06:23.136Z,1761365183.136 [DAT](INFO): got valid direction response:
 04:06:22.1375 LVL= 18640, 30817, 19058, 32115, AGC= 55, IDX= 510, 0.11, 0.049,-1.358, 0.241,-0.149, PHS= 0.286,-1.162, 0.386, RAW= 153.3,   6.6, CAL= 154.2,  -2.5, ROT= 355.8,   2.5

2025-10-25T04:06:23.137Z,1761365183.137 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-10-25T04:06:23.139Z,1761365183.139 [DAT](INFO): direction in FSK: [0.996365,-0.073169,-0.043619]
2025-10-25T04:06:23.139Z,1761365183.139 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:23.151Z,1761365183.151 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.668503
2025-10-25T04:06:23.364Z,1761365183.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898429,0.435804,-0.053859],[-0.438786,0.895747,-0.071446],[0.017108,0.087822,0.995989]]
2025-10-25T04:06:23.377Z,1761365183.377 [DAT](INFO): DAT read: Rx Time:04:06:22.6373 

2025-10-25T04:06:23.379Z,1761365183.379 [DAT](INFO): Rx dataTimestamp_ set to:1761365183.377546
2025-10-25T04:06:23.384Z,1761365183.384 [DAT](INFO): DAT read: Bearing 357.2,   2.1 (Local)

2025-10-25T04:06:23.385Z,1761365183.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,   2.1 (Local)

2025-10-25T04:06:23.390Z,1761365183.390 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-10-25T04:06:23.392Z,1761365183.392 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-25T04:06:23.396Z,1761365183.396 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.912651
2025-10-25T04:06:23.492Z,1761365183.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.758142 s,
      deltaX: -0.400000 m,
      approachRate: -0.527605 m/s,
      rangeRepo size: 4

2025-10-25T04:06:23.506Z,1761365183.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.231483 m,
      bearing: 330.007625 deg,
      lat: 36.779459 deg,
      lon: -121.859744 deg,
      deltaT: 0.758142 s,
      deltaX: -0.398246 m,
      approachRate: -0.525292 m/s,
      posRepo size: 4

2025-10-25T04:06:23.507Z,1761365183.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m.
2025-10-25T04:06:23.515Z,1761365183.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.231483 m,
      nav range: 14.456762 m,
      bearing: 328.775275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 330.693444 deg,
      new cmd heading: 330.611093 deg.

2025-10-25T04:06:23.522Z,1761365183.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770252 target range: 14.231483 and range: 14.30 m.
2025-10-25T04:06:23.634Z,1761365183.634 [DAT](INFO): DAT read: 04:06:22.6373 LVL= 18160, 32753, 19698, 32755, AGC= 55, IDX= 507, 0.26,-1.618,-3.013,-1.470,-1.822, PHS= 0.292,-1.144, 0.349, RAW= 151.9,   6.9, CAL= 152.8,  -2.1, ROT= 357.2,   2.1

2025-10-25T04:06:23.635Z,1761365183.635 [DAT](INFO): got valid direction response:
 04:06:22.6373 LVL= 18160, 32753, 19698, 32755, AGC= 55, IDX= 507, 0.26,-1.618,-3.013,-1.470,-1.822, PHS= 0.292,-1.144, 0.349, RAW= 151.9,   6.9, CAL= 152.8,  -2.1, ROT= 357.2,   2.1

2025-10-25T04:06:23.635Z,1761365183.635 [DAT](INFO): #Rx 92: Read direction message, but no range.
2025-10-25T04:06:23.636Z,1761365183.636 [DAT](INFO): direction in FSK: [0.998135,-0.048817,-0.036644]
2025-10-25T04:06:23.640Z,1761365183.640 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.156872
2025-10-25T04:06:23.882Z,1761365183.882 [DAT](INFO): DAT read: Rx Time:04:06:23.1372 

2025-10-25T04:06:23.883Z,1761365183.883 [DAT](INFO): Rx dataTimestamp_ set to:1761365183.882471
2025-10-25T04:06:23.911Z,1761365183.911 [DAT](INFO): DAT read: Bearing 358.4,   1.5 (Local)

2025-10-25T04:06:23.917Z,1761365183.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,   1.5 (Local)

2025-10-25T04:06:23.925Z,1761365183.925 [DAT](INFO): DAT read: Range 10 to 50 :    14.1 m (trip time 9.4 ms) speed 0.5

2025-10-25T04:06:23.931Z,1761365183.931 [DAT](INFO): DAT read: 04:06:23.1372 LVL= 18496, 32753, 19698, 32755, AGC= 54, IDX= 506, 0.47,-0.972,-2.381,-0.861,-1.182, PHS= 0.298,-1.152, 0.318, RAW= 150.7,   7.4, CAL= 151.6,  -1.5, ROT= 358.4,   1.5

2025-10-25T04:06:23.933Z,1761365183.933 [DAT](INFO): got valid direction response:
 04:06:23.1372 LVL= 18496, 32753, 19698, 32755, AGC= 54, IDX= 506, 0.47,-0.972,-2.381,-0.861,-1.182, PHS= 0.298,-1.152, 0.318, RAW= 150.7,   7.4, CAL= 151.6,  -1.5, ROT= 358.4,   1.5

2025-10-25T04:06:23.934Z,1761365183.934 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-10-25T04:06:23.935Z,1761365183.935 [DAT](INFO): direction in FSK: [0.999268,-0.027912,-0.026177]
2025-10-25T04:06:23.935Z,1761365183.935 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:23.939Z,1761365183.939 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.456169
2025-10-25T04:06:24.010Z,1761365184.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504925 s,
      deltaX: -0.200000 m,
      approachRate: -0.396098 m/s,
      rangeRepo size: 4

2025-10-25T04:06:24.034Z,1761365184.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.032441 m,
      bearing: 332.507867 deg,
      lat: 36.779459 deg,
      lon: -121.859743 deg,
      deltaT: 0.504925 s,
      deltaX: -0.199041 m,
      approachRate: -0.394200 m/s,
      posRepo size: 4

2025-10-25T04:06:24.035Z,1761365184.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m.
2025-10-25T04:06:24.039Z,1761365184.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.032441 m,
      nav range: 14.120721 m,
      bearing: 329.234464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058524 deg/s,
      cmd heading: 330.611099 deg,
      new cmd heading: 330.521712 deg.

2025-10-25T04:06:24.039Z,1761365184.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768692 target range: 14.032441 and range: 14.10 m.
2025-10-25T04:06:24.132Z,1761365184.132 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.648796
2025-10-25T04:06:24.390Z,1761365184.390 [DAT](INFO): DAT read: Rx Time:04:06:23.6369 

2025-10-25T04:06:24.392Z,1761365184.392 [DAT](INFO): Rx dataTimestamp_ set to:1761365184.391223
2025-10-25T04:06:24.396Z,1761365184.396 [DAT](INFO): DAT read: Bearing   0.1,  -0.3 (Local)

2025-10-25T04:06:24.399Z,1761365184.399 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,  -0.3 (Local)

2025-10-25T04:06:24.404Z,1761365184.404 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-10-25T04:06:24.419Z,1761365184.419 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-25T04:06:24.433Z,1761365184.433 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.950314
2025-10-25T04:06:24.435Z,1761365184.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892253,0.448932,-0.048415],[-0.451353,0.889799,-0.067368],[0.012836,0.081961,0.996553]]
2025-10-25T04:06:24.467Z,1761365184.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:24.478Z,1761365184.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.508752 s,
      deltaX: -0.400001 m,
      approachRate: -0.786239 m/s,
      rangeRepo size: 4

2025-10-25T04:06:24.479Z,1761365184.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m.
2025-10-25T04:06:24.503Z,1761365184.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.032441 m,
      nav range: 13.877334 m,
      bearing: 329.173443 deg,
      approach rate: -0.510279 m/s,
      LOS rate: -0.130180 deg/s,
      cmd heading: 330.521706 deg,
      new cmd heading: 330.335431 deg.

2025-10-25T04:06:24.509Z,1761365184.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765441 target range: 14.032441 and range: 13.70 m.
2025-10-25T04:06:24.648Z,1761365184.648 [DAT](INFO): DAT read: 04:06:23.6369 LVL= 18576, 32753, 20498, 32755, AGC= 53, IDX= 504,-0.23, 1.767, 0.389, 1.834, 1.584, PHS= 0.271,-1.148, 0.247, RAW= 149.2,   9.0, CAL= 149.9,   0.3, ROT=   0.1,  -0.3

2025-10-25T04:06:24.650Z,1761365184.650 [DAT](INFO): got valid direction response:
 04:06:23.6369 LVL= 18576, 32753, 20498, 32755, AGC= 53, IDX= 504,-0.23, 1.767, 0.389, 1.834, 1.584, PHS= 0.271,-1.148, 0.247, RAW= 149.2,   9.0, CAL= 149.9,   0.3, ROT=   0.1,  -0.3

2025-10-25T04:06:24.650Z,1761365184.650 [DAT](INFO): #Rx 95: Read direction message, but no range.
2025-10-25T04:06:24.651Z,1761365184.651 [DAT](INFO): direction in FSK: [0.999985,0.001745,0.005236]
2025-10-25T04:06:24.655Z,1761365184.655 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.172161
2025-10-25T04:06:24.791Z,1761365184.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889870,0.453786,-0.047007],[-0.456048,0.887596,-0.064761],[0.012336,0.079067,0.996793]]
2025-10-25T04:06:24.899Z,1761365184.899 [DAT](INFO): DAT read: Rx Time:04:06:24.1367 

2025-10-25T04:06:24.900Z,1761365184.900 [DAT](INFO): Rx dataTimestamp_ set to:1761365184.899286
2025-10-25T04:06:24.903Z,1761365184.903 [DAT](INFO): DAT read: Bearing   1.0,  -0.2 (Local)

2025-10-25T04:06:24.905Z,1761365184.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -0.2 (Local)

2025-10-25T04:06:24.911Z,1761365184.911 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-10-25T04:06:24.918Z,1761365184.918 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-25T04:06:24.927Z,1761365184.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.508063 s,
      deltaX: -0.300000 m,
      approachRate: -0.590478 m/s,
      rangeRepo size: 4

2025-10-25T04:06:24.928Z,1761365184.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m.
2025-10-25T04:06:24.929Z,1761365184.929 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.437214
2025-10-25T04:06:24.955Z,1761365184.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.032441 m,
      nav range: 13.686044 m,
      bearing: 329.089664 deg,
      approach rate: -0.426756 m/s,
      LOS rate: -0.189517 deg/s,
      cmd heading: 330.335433 deg,
      new cmd heading: 330.080587 deg.

2025-10-25T04:06:24.956Z,1761365184.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760993 target range: 14.032441 and range: 13.40 m.
2025-10-25T04:06:25.150Z,1761365185.150 [DAT](INFO): DAT read: 04:06:24.1367 LVL= 19504, 26737, 19090, 32755, AGC= 53, IDX= 502, 0.00, 2.092, 0.683, 2.124, 1.885, PHS= 0.296,-1.154, 0.236, RAW= 147.9,   8.8, CAL= 149.0,   0.2, ROT=   1.0,  -0.2

2025-10-25T04:06:25.151Z,1761365185.151 [DAT](INFO): got valid direction response:
 04:06:24.1367 LVL= 19504, 26737, 19090, 32755, AGC= 53, IDX= 502, 0.00, 2.092, 0.683, 2.124, 1.885, PHS= 0.296,-1.154, 0.236, RAW= 147.9,   8.8, CAL= 149.0,   0.2, ROT=   1.0,  -0.2

2025-10-25T04:06:25.151Z,1761365185.151 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-10-25T04:06:25.152Z,1761365185.152 [DAT](INFO): direction in FSK: [0.999842,0.017452,0.003491]
2025-10-25T04:06:25.156Z,1761365185.156 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.672905
2025-10-25T04:06:25.192Z,1761365185.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887913,0.457740,-0.045651],[-0.459862,0.885772,-0.062726],[0.011724,0.076689,0.996986]]
2025-10-25T04:06:25.242Z,1761365185.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m.
2025-10-25T04:06:25.249Z,1761365185.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.032441 m,
      nav range: 13.511866 m,
      bearing: 329.014479 deg,
      approach rate: -0.551808 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 330.080585 deg,
      new cmd heading: 329.852123 deg.

2025-10-25T04:06:25.250Z,1761365185.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757006 target range: 14.032441 and range: 13.40 m.
2025-10-25T04:06:25.404Z,1761365185.404 [DAT](INFO): DAT read: Rx Time:04:06:24.6365 

2025-10-25T04:06:25.407Z,1761365185.407 [DAT](INFO): Rx dataTimestamp_ set to:1761365185.406169
2025-10-25T04:06:25.411Z,1761365185.411 [DAT](INFO): DAT read: Bearing   2.0,   0.1 (Local)

2025-10-25T04:06:25.412Z,1761365185.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   0.1 (Local)

2025-10-25T04:06:25.423Z,1761365185.423 [DAT](INFO): DAT read: Range 10 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-10-25T04:06:25.432Z,1761365185.432 [DAT](INFO): DAT read: 04:06:24.6365 LVL= 19168, 31729, 19810, 32755, AGC= 54, IDX= 499, 0.30, 1.346,-0.092, 1.337, 1.105, PHS= 0.329,-1.151, 0.229, RAW= 146.5,   8.3, CAL= 148.0,  -0.1, ROT=   2.0,   0.1

2025-10-25T04:06:25.437Z,1761365185.437 [DAT](INFO): got valid direction response:
 04:06:24.6365 LVL= 19168, 31729, 19810, 32755, AGC= 54, IDX= 499, 0.30, 1.346,-0.092, 1.337, 1.105, PHS= 0.329,-1.151, 0.229, RAW= 146.5,   8.3, CAL= 148.0,  -0.1, ROT=   2.0,   0.1

2025-10-25T04:06:25.437Z,1761365185.437 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-10-25T04:06:25.438Z,1761365185.438 [DAT](INFO): direction in FSK: [0.999389,0.034899,-0.001745]
2025-10-25T04:06:25.439Z,1761365185.439 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:25.447Z,1761365185.447 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.963779
2025-10-25T04:06:25.591Z,1761365185.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886443,0.460614,-0.045316],[-0.462691,0.884372,-0.061669],[0.011670,0.075633,0.997067]]
2025-10-25T04:06:25.652Z,1761365185.652 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.168507
2025-10-25T04:06:25.746Z,1761365185.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.506883 s,
      deltaX: -0.299999 m,
      approachRate: -0.591851 m/s,
      rangeRepo size: 4

2025-10-25T04:06:25.748Z,1761365185.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.037368 m,
      bearing: 334.439074 deg,
      lat: 36.779462 deg,
      lon: -121.859734 deg,
      deltaT: 1.523698 s,
      deltaX: -0.995073 m,
      approachRate: -0.653065 m/s,
      posRepo size: 4

2025-10-25T04:06:25.757Z,1761365185.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-25T04:06:25.760Z,1761365185.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.037368 m,
      nav range: 13.223018 m,
      bearing: 332.401078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 329.852129 deg,
      new cmd heading: 329.487619 deg.

2025-10-25T04:06:25.781Z,1761365185.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750644 target range: 13.037368 and range: 13.10 m.
2025-10-25T04:06:25.906Z,1761365185.906 [DAT](INFO): DAT read: Rx Time:04:06:25.1365 

2025-10-25T04:06:25.908Z,1761365185.908 [DAT](INFO): Rx dataTimestamp_ set to:1761365185.907000
2025-10-25T04:06:25.930Z,1761365185.930 [DAT](INFO): DAT read: Bearing   3.3,  -2.4 (Local)

2025-10-25T04:06:25.930Z,1761365185.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  -2.4 (Local)

2025-10-25T04:06:25.932Z,1761365185.932 [DAT](INFO): DAT read: Range 10 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-10-25T04:06:25.953Z,1761365185.953 [DAT](INFO): DAT read: 04:06:25.1365 LVL= 19264, 30433, 19314, 32755, AGC= 53, IDX= 499,-0.16,-0.383,-1.755,-0.438,-0.590, PHS= 0.295,-1.118, 0.149, RAW= 144.6,  10.0, CAL= 146.7,   2.4, ROT=   3.3,  -2.4

2025-10-25T04:06:25.954Z,1761365185.954 [DAT](INFO): got valid direction response:
 04:06:25.1365 LVL= 19264, 30433, 19314, 32755, AGC= 53, IDX= 499,-0.16,-0.383,-1.755,-0.438,-0.590, PHS= 0.295,-1.118, 0.149, RAW= 144.6,  10.0, CAL= 146.7,   2.4, ROT=   3.3,  -2.4

2025-10-25T04:06:25.955Z,1761365185.955 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-10-25T04:06:25.956Z,1761365185.956 [DAT](INFO): direction in FSK: [0.997466,0.057514,0.041876]
2025-10-25T04:06:25.956Z,1761365185.956 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:25.968Z,1761365185.968 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.485085
2025-10-25T04:06:26.103Z,1761365186.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885257,0.462970,-0.044473],[-0.464961,0.883281,-0.060214],[0.011405,0.073983,0.997194]]
2025-10-25T04:06:26.154Z,1761365186.154 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.670750
2025-10-25T04:06:26.239Z,1761365186.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.500831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:26.257Z,1761365186.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.037368 m,
      bearing: 335.405715 deg,
      lat: 36.779462 deg,
      lon: -121.859731 deg,
      deltaT: 0.500831 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:26.258Z,1761365186.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m.
2025-10-25T04:06:26.265Z,1761365186.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.037368 m,
      nav range: 12.865089 m,
      bearing: 333.451139 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 329.487615 deg,
      new cmd heading: 329.130867 deg.

2025-10-25T04:06:26.266Z,1761365186.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744417 target range: 13.037368 and range: 13.10 m.
2025-10-25T04:06:26.411Z,1761365186.411 [DAT](INFO): DAT read: Rx Time:04:06:25.6363 

2025-10-25T04:06:26.413Z,1761365186.413 [DAT](INFO): Rx dataTimestamp_ set to:1761365186.411426
2025-10-25T04:06:26.418Z,1761365186.418 [DAT](INFO): DAT read: Bearing   2.9,  -1.0 (Local)

2025-10-25T04:06:26.418Z,1761365186.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  -1.0 (Local)

2025-10-25T04:06:26.425Z,1761365186.425 [DAT](INFO): DAT read: Range 10 to 50 :    12.8 m (trip time 8.5 ms) speed 0.4

2025-10-25T04:06:26.434Z,1761365186.434 [DAT](INFO): DAT read: 04:06:25.6363 LVL= 19616, 28225, 19746, 32755, AGC= 54, IDX= 496, 0.17, 0.290,-1.153, 0.244, 0.050, PHS= 0.328,-1.156, 0.191, RAW= 145.2,   9.0, CAL= 147.1,   1.0, ROT=   2.9,  -1.0

2025-10-25T04:06:26.435Z,1761365186.435 [DAT](INFO): got valid direction response:
 04:06:25.6363 LVL= 19616, 28225, 19746, 32755, AGC= 54, IDX= 496, 0.17, 0.290,-1.153, 0.244, 0.050, PHS= 0.328,-1.156, 0.191, RAW= 145.2,   9.0, CAL= 147.1,   1.0, ROT=   2.9,  -1.0

2025-10-25T04:06:26.436Z,1761365186.436 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-10-25T04:06:26.442Z,1761365186.442 [DAT](INFO): direction in FSK: [0.998567,0.050585,0.017452]
2025-10-25T04:06:26.442Z,1761365186.442 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:26.451Z,1761365186.451 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.967709
2025-10-25T04:06:26.572Z,1761365186.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885125,0.463296,-0.043699],[-0.465229,0.883142,-0.060186],[0.010708,0.073603,0.997230]]
2025-10-25T04:06:26.659Z,1761365186.659 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.175861
2025-10-25T04:06:26.681Z,1761365186.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504426 s,
      deltaX: -0.300000 m,
      approachRate: -0.594736 m/s,
      rangeRepo size: 4

2025-10-25T04:06:26.683Z,1761365186.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.739074 m,
      bearing: 335.092631 deg,
      lat: 36.779462 deg,
      lon: -121.859729 deg,
      deltaT: 0.504426 s,
      deltaX: -0.298294 m,
      approachRate: -0.591353 m/s,
      posRepo size: 4

2025-10-25T04:06:26.684Z,1761365186.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-10-25T04:06:26.696Z,1761365186.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.739074 m,
      nav range: 12.561963 m,
      bearing: 334.251560 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 329.130861 deg,
      new cmd heading: 328.813672 deg.

2025-10-25T04:06:26.697Z,1761365186.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738881 target range: 12.739074 and range: 12.80 m.
2025-10-25T04:06:26.914Z,1761365186.914 [DAT](INFO): DAT read: Rx Time:04:06:26.1362 

2025-10-25T04:06:26.915Z,1761365186.915 [DAT](INFO): Rx dataTimestamp_ set to:1761365186.914566
2025-10-25T04:06:26.921Z,1761365186.921 [DAT](INFO): DAT read: Bearing 359.6,  -7.9 (Local)

2025-10-25T04:06:26.921Z,1761365186.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  -7.9 (Local)

2025-10-25T04:06:26.923Z,1761365186.923 [DAT](INFO): DAT read: Range 10 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-10-25T04:06:26.946Z,1761365186.946 [DAT](INFO): DAT read: 04:06:26.1362 LVL= 21056, 31969, 20914, 32755, AGC= 54, IDX= 512,-0.29, 0.210,-1.595, 0.269, 0.131, PHS= 0.167,-1.679, 0.135, RAW= 149.1,  14.9, CAL= 150.4,   7.9, ROT= 359.6,  -7.9

2025-10-25T04:06:26.953Z,1761365186.953 [DAT](INFO): got valid direction response:
 04:06:26.1362 LVL= 21056, 31969, 20914, 32755, AGC= 54, IDX= 512,-0.29, 0.210,-1.595, 0.269, 0.131, PHS= 0.167,-1.679, 0.135, RAW= 149.1,  14.9, CAL= 150.4,   7.9, ROT= 359.6,  -7.9

2025-10-25T04:06:26.954Z,1761365186.954 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-10-25T04:06:26.955Z,1761365186.955 [DAT](INFO): direction in FSK: [0.990485,-0.006915,0.137445]
2025-10-25T04:06:26.955Z,1761365186.955 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:26.971Z,1761365186.971 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.488564
2025-10-25T04:06:27.016Z,1761365187.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886188,0.461369,-0.042545],[-0.463265,0.883819,-0.065185],[0.007527,0.077476,0.996966]]
2025-10-25T04:06:27.141Z,1761365187.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.503140 s,
      deltaX: -0.200000 m,
      approachRate: -0.397503 m/s,
      rangeRepo size: 4

2025-10-25T04:06:27.143Z,1761365187.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.540027 m,
      bearing: 331.385355 deg,
      lat: 36.779462 deg,
      lon: -121.859729 deg,
      deltaT: 0.503140 s,
      deltaX: -0.199047 m,
      approachRate: -0.395610 m/s,
      posRepo size: 4

2025-10-25T04:06:27.153Z,1761365187.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m.
2025-10-25T04:06:27.162Z,1761365187.162 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.679382
2025-10-25T04:06:27.178Z,1761365187.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.540027 m,
      nav range: 12.361972 m,
      bearing: 334.061037 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 328.813667 deg,
      new cmd heading: 328.492763 deg.

2025-10-25T04:06:27.179Z,1761365187.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733280 target range: 12.540027 and range: 12.60 m.
2025-10-25T04:06:27.418Z,1761365187.418 [DAT](INFO): DAT read: Rx Time:04:06:26.6359 

2025-10-25T04:06:27.419Z,1761365187.419 [DAT](INFO): Rx dataTimestamp_ set to:1761365187.418597
2025-10-25T04:06:27.420Z,1761365187.420 [DAT](INFO): DAT read: Bearing   2.6,  -1.6 (Local)

2025-10-25T04:06:27.421Z,1761365187.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  -1.6 (Local)

2025-10-25T04:06:27.423Z,1761365187.423 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time speed 0.4

2025-10-25T04:06:27.432Z,1761365187.432 [DAT](INFO): DAT read: 04:06:26.6359 LVL= 21952, 27777, 20562, 32755, AGC= 53, IDX= 509, 0.11, 0.492,-0.967, 0.454, 0.266, PHS= 0.314,-1.186, 0.185, RAW= 145.6,   9.6, CAL= 147.4,   1.6, ROT=   2.6,  -1.6

2025-10-25T04:06:27.437Z,1761365187.437 [DAT](INFO): got valid direction response:
 04:06:26.6359 LVL= 21952, 27777, 20562, 32755, AGC= 53, IDX= 509, 0.11, 0.492,-0.967, 0.454, 0.266, PHS= 0.314,-1.186, 0.185, RAW= 145.6,   9.6, CAL= 147.4,   1.6, ROT=   2.6,  -1.6

2025-10-25T04:06:27.438Z,1761365187.438 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-10-25T04:06:27.439Z,1761365187.439 [DAT](INFO): direction in FSK: [0.998581,0.045345,0.027922]
2025-10-25T04:06:27.439Z,1761365187.439 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:27.470Z,1761365187.470 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.987511
2025-10-25T04:06:27.589Z,1761365187.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504031 s,
      deltaX: -0.300000 m,
      approachRate: -0.595202 m/s,
      rangeRepo size: 4

2025-10-25T04:06:27.591Z,1761365187.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.240595 m,
      bearing: 334.870093 deg,
      lat: 36.779464 deg,
      lon: -121.859728 deg,
      deltaT: 0.504031 s,
      deltaX: -0.299432 m,
      approachRate: -0.594074 m/s,
      posRepo size: 4

2025-10-25T04:06:27.592Z,1761365187.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-25T04:06:27.599Z,1761365187.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.240595 m,
      nav range: 12.261400 m,
      bearing: 334.572368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 328.492757 deg,
      new cmd heading: 328.156725 deg.

2025-10-25T04:06:27.600Z,1761365187.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727415 target range: 12.240595 and range: 12.30 m.
2025-10-25T04:06:27.670Z,1761365187.670 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.186749
2025-10-25T04:06:27.922Z,1761365187.922 [DAT](INFO): DAT read: Rx Time:04:06:27.1359 

2025-10-25T04:06:27.923Z,1761365187.923 [DAT](INFO): Rx dataTimestamp_ set to:1761365187.922436
2025-10-25T04:06:27.924Z,1761365187.924 [DAT](INFO): DAT read: Bearing   2.5,  -3.7 (Local)

2025-10-25T04:06:27.924Z,1761365187.924 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  -3.7 (Local)

2025-10-25T04:06:27.926Z,1761365187.926 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-10-25T04:06:27.942Z,1761365187.942 [DAT](INFO): DAT read: 04:06:27.1359 LVL= 22000, 32657, 20242, 32755, AGC= 54, IDX= 509,-0.36, 0.307,-1.121, 0.274, 0.128, PHS= 0.267,-1.202, 0.143, RAW= 145.6,  11.2, CAL= 147.5,   3.7, ROT=   2.5,  -3.7

2025-10-25T04:06:27.943Z,1761365187.943 [DAT](INFO): got valid direction response:
 04:06:27.1359 LVL= 22000, 32657, 20242, 32755, AGC= 54, IDX= 509,-0.36, 0.307,-1.121, 0.274, 0.128, PHS= 0.267,-1.202, 0.143, RAW= 145.6,  11.2, CAL= 147.5,   3.7, ROT=   2.5,  -3.7

2025-10-25T04:06:27.944Z,1761365187.944 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-10-25T04:06:27.946Z,1761365187.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888297,0.457525,-0.039991],[-0.459264,0.885358,-0.072242],[0.002354,0.082538,0.996585]]
2025-10-25T04:06:27.953Z,1761365187.953 [DAT](INFO): direction in FSK: [0.996966,0.043528,0.064532]
2025-10-25T04:06:27.954Z,1761365187.954 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:27.966Z,1761365187.966 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.482956
2025-10-25T04:06:28.042Z,1761365188.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503839 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:28.050Z,1761365188.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.240595 m,
      bearing: 334.846558 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.503839 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-10-25T04:06:28.050Z,1761365188.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-25T04:06:28.057Z,1761365188.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.240595 m,
      nav range: 12.114427 m,
      bearing: 334.571278 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 328.156712 deg,
      new cmd heading: 327.825448 deg.

2025-10-25T04:06:28.058Z,1761365188.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721633 target range: 12.240595 and range: 12.30 m.
2025-10-25T04:06:28.174Z,1761365188.174 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.690796
2025-10-25T04:06:28.356Z,1761365188.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889012,0.456209,-0.039116],[-0.457883,0.885718,-0.076463],[-0.000238,0.085887,0.996305]]
2025-10-25T04:06:28.426Z,1761365188.426 [DAT](INFO): DAT read: Rx Time:04:06:27.6356 

2025-10-25T04:06:28.427Z,1761365188.427 [DAT](INFO): Rx dataTimestamp_ set to:1761365188.426480
2025-10-25T04:06:28.429Z,1761365188.429 [DAT](INFO): DAT read: Bearing   2.0,  -3.6 (Local)

2025-10-25T04:06:28.430Z,1761365188.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  -3.6 (Local)

2025-10-25T04:06:28.432Z,1761365188.432 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed 0.4

2025-10-25T04:06:28.437Z,1761365188.437 [DAT](INFO): DAT read: 04:06:27.6356 LVL= 24016, 32753, 22050, 32755, AGC= 55, IDX= 506, 0.08, 0.820,-0.630, 0.806, 0.646, PHS= 0.263,-1.228, 0.157, RAW= 146.4,  11.2, CAL= 148.0,   3.6, ROT=   2.0,  -3.6

2025-10-25T04:06:28.439Z,1761365188.439 [DAT](INFO): got valid direction response:
 04:06:27.6356 LVL= 24016, 32753, 22050, 32755, AGC= 55, IDX= 506, 0.08, 0.820,-0.630, 0.806, 0.646, PHS= 0.263,-1.228, 0.157, RAW= 146.4,  11.2, CAL= 148.0,   3.6, ROT=   2.0,  -3.6

2025-10-25T04:06:28.439Z,1761365188.439 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-10-25T04:06:28.440Z,1761365188.440 [DAT](INFO): direction in FSK: [0.997419,0.034831,0.062791]
2025-10-25T04:06:28.440Z,1761365188.440 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:28.445Z,1761365188.445 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.961628
2025-10-25T04:06:28.471Z,1761365188.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504044 s,
      deltaX: -0.400001 m,
      approachRate: -0.793583 m/s,
      rangeRepo size: 4

2025-10-25T04:06:28.478Z,1761365188.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.842205 m,
      bearing: 334.432532 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.504044 s,
      deltaX: -0.398390 m,
      approachRate: -0.790387 m/s,
      posRepo size: 4

2025-10-25T04:06:28.479Z,1761365188.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m.
2025-10-25T04:06:28.486Z,1761365188.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.842205 m,
      nav range: 11.854999 m,
      bearing: 334.226687 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 327.825448 deg,
      new cmd heading: 327.515038 deg.

2025-10-25T04:06:28.489Z,1761365188.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716216 target range: 11.842205 and range: 11.90 m.
2025-10-25T04:06:28.678Z,1761365188.678 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.195225
2025-10-25T04:06:28.823Z,1761365188.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889244,0.455846,-0.038059],[-0.457421,0.885556,-0.080968],[-0.003205,0.089409,0.995990]]
2025-10-25T04:06:28.930Z,1761365188.930 [DAT](INFO): DAT read: Rx Time:04:06:28.1355 

2025-10-25T04:06:28.931Z,1761365188.931 [DAT](INFO): Rx dataTimestamp_ set to:1761365188.930529
2025-10-25T04:06:28.932Z,1761365188.932 [DAT](INFO): DAT read: Bearing   2.0,  -4.7 (Local)

2025-10-25T04:06:28.933Z,1761365188.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  -4.7 (Local)

2025-10-25T04:06:28.935Z,1761365188.935 [DAT](INFO): DAT read: Range 10 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-10-25T04:06:28.940Z,1761365188.940 [DAT](INFO): DAT read: 04:06:28.1355 LVL= 23024, 32753, 22498, 32755, AGC= 55, IDX= 505,-0.29,-0.709,-2.132,-0.726,-0.859, PHS= 0.238,-1.226, 0.130, RAW= 146.2,  12.1, CAL= 148.0,   4.7, ROT=   2.0,  -4.7

2025-10-25T04:06:28.941Z,1761365188.941 [DAT](INFO): got valid direction response:
 04:06:28.1355 LVL= 23024, 32753, 22498, 32755, AGC= 55, IDX= 505,-0.29,-0.709,-2.132,-0.726,-0.859, PHS= 0.238,-1.226, 0.130, RAW= 146.2,  12.1, CAL= 148.0,   4.7, ROT=   2.0,  -4.7

2025-10-25T04:06:28.942Z,1761365188.942 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-10-25T04:06:28.943Z,1761365188.943 [DAT](INFO): direction in FSK: [0.996030,0.034782,0.081939]
2025-10-25T04:06:28.943Z,1761365188.943 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:28.952Z,1761365188.952 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.468670
2025-10-25T04:06:28.984Z,1761365188.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504049 s,
      deltaX: -0.200000 m,
      approachRate: -0.396786 m/s,
      rangeRepo size: 4

2025-10-25T04:06:28.995Z,1761365188.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.643176 m,
      bearing: 334.349588 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.504049 s,
      deltaX: -0.199029 m,
      approachRate: -0.394860 m/s,
      posRepo size: 4

2025-10-25T04:06:28.996Z,1761365188.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-25T04:06:29.007Z,1761365189.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.643176 m,
      nav range: 11.605905 m,
      bearing: 334.055695 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.241262 deg/s,
      cmd heading: 327.515029 deg,
      new cmd heading: 327.144025 deg.

2025-10-25T04:06:29.007Z,1761365189.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709740 target range: 11.643176 and range: 11.70 m.
2025-10-25T04:06:29.182Z,1761365189.182 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.698887
2025-10-25T04:06:29.311Z,1761365189.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888844,0.456654,-0.037744],[-0.458174,0.884701,-0.085916],[-0.005841,0.093659,0.995587]]
2025-10-25T04:06:29.422Z,1761365189.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:29.424Z,1761365189.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m.
2025-10-25T04:06:29.432Z,1761365189.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.643176 m,
      nav range: 11.437559 m,
      bearing: 333.798972 deg,
      approach rate: -0.382033 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 327.144013 deg,
      new cmd heading: 326.362560 deg.

2025-10-25T04:06:29.434Z,1761365189.434 [DAT](INFO): DAT read: Rx Time:04:06:28.6352 

2025-10-25T04:06:29.435Z,1761365189.435 [DAT](INFO): Rx dataTimestamp_ set to:1761365189.434451
2025-10-25T04:06:29.436Z,1761365189.436 [DAT](INFO): DAT read: Bearing   1.6,  -3.4 (Local)

2025-10-25T04:06:29.436Z,1761365189.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  -3.4 (Local)

2025-10-25T04:06:29.438Z,1761365189.438 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-10-25T04:06:29.444Z,1761365189.444 [DAT](INFO): DAT read: 04:06:28.6352 LVL= 23856, 32753, 22114, 32755, AGC= 55, IDX= 502, 0.18, 0.164,-1.298, 0.164,-0.008, PHS= 0.260,-1.243, 0.169, RAW= 146.9,  11.2, CAL= 148.4,   3.4, ROT=   1.6,  -3.4

2025-10-25T04:06:29.446Z,1761365189.446 [DAT](INFO): got valid direction response:
 04:06:28.6352 LVL= 23856, 32753, 22114, 32755, AGC= 55, IDX= 502, 0.18, 0.164,-1.298, 0.164,-0.008, PHS= 0.260,-1.243, 0.169, RAW= 146.9,  11.2, CAL= 148.4,   3.4, ROT=   1.6,  -3.4

2025-10-25T04:06:29.447Z,1761365189.447 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-10-25T04:06:29.448Z,1761365189.448 [DAT](INFO): direction in FSK: [0.997851,0.027872,0.059306]
2025-10-25T04:06:29.448Z,1761365189.448 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:29.458Z,1761365189.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696101 target range: 11.643176 and range: 11.70 m.
2025-10-25T04:06:29.468Z,1761365189.468 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.984997
2025-10-25T04:06:29.686Z,1761365189.686 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.202892
2025-10-25T04:06:29.695Z,1761365189.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887375,0.459672,-0.035595],[-0.460971,0.883169,-0.086709],[-0.008422,0.093351,0.995598]]
2025-10-25T04:06:29.818Z,1761365189.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.503922 s,
      deltaX: -0.400000 m,
      approachRate: -0.793773 m/s,
      rangeRepo size: 4

2025-10-25T04:06:29.820Z,1761365189.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.244796 m,
      bearing: 333.823849 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.503922 s,
      deltaX: -0.398380 m,
      approachRate: -0.790559 m/s,
      posRepo size: 4

2025-10-25T04:06:29.820Z,1761365189.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m.
2025-10-25T04:06:29.828Z,1761365189.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.244796 m,
      nav range: 11.262441 m,
      bearing: 333.607627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 326.362558 deg,
      new cmd heading: 325.672976 deg.

2025-10-25T04:06:29.841Z,1761365189.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684066 target range: 11.244796 and range: 11.30 m.
2025-10-25T04:06:29.938Z,1761365189.938 [DAT](INFO): DAT read: Rx Time:04:06:29.1352 

2025-10-25T04:06:29.939Z,1761365189.939 [DAT](INFO): Rx dataTimestamp_ set to:1761365189.938521
2025-10-25T04:06:29.940Z,1761365189.940 [DAT](INFO): DAT read: Bearing   2.0,  -5.7 (Local)

2025-10-25T04:06:29.945Z,1761365189.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  -5.7 (Local)

2025-10-25T04:06:29.947Z,1761365189.947 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-10-25T04:06:29.954Z,1761365189.954 [DAT](INFO): DAT read: 04:06:29.1352 LVL= 25264, 32753, 23266, 32755, AGC= 54, IDX= 502,-0.18,-0.806,-2.239,-0.823,-0.937, PHS= 0.219,-1.254, 0.111, RAW= 146.2,  12.9, CAL= 148.0,   5.7, ROT=   2.0,  -5.7

2025-10-25T04:06:29.955Z,1761365189.955 [DAT](INFO): got valid direction response:
 04:06:29.1352 LVL= 25264, 32753, 23266, 32755, AGC= 54, IDX= 502,-0.18,-0.806,-2.239,-0.823,-0.937, PHS= 0.219,-1.254, 0.111, RAW= 146.2,  12.9, CAL= 148.0,   5.7, ROT=   2.0,  -5.7

2025-10-25T04:06:29.955Z,1761365189.955 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-10-25T04:06:29.957Z,1761365189.957 [DAT](INFO): direction in FSK: [0.994449,0.034727,0.099320]
2025-10-25T04:06:29.957Z,1761365189.957 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:29.962Z,1761365189.962 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.479019
2025-10-25T04:06:30.190Z,1761365190.190 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.706711
2025-10-25T04:06:30.224Z,1761365190.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882966,0.468595,-0.028111],[-0.469311,0.879752,-0.076050],[-0.010906,0.080342,0.996708]]
2025-10-25T04:06:30.363Z,1761365190.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504070 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:30.379Z,1761365190.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.244698 m,
      bearing: 333.541223 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.504070 s,
      deltaX: -0.000098 m,
      approachRate: -0.000195 m/s,
      posRepo size: 4

2025-10-25T04:06:30.400Z,1761365190.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m.
2025-10-25T04:06:30.421Z,1761365190.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.244698 m,
      nav range: 11.033219 m,
      bearing: 333.297054 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 325.672982 deg,
      new cmd heading: 324.723940 deg.

2025-10-25T04:06:30.422Z,1761365190.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667502 target range: 11.244698 and range: 11.30 m.
2025-10-25T04:06:30.442Z,1761365190.442 [DAT](INFO): DAT read: Rx Time:04:06:29.6350 

2025-10-25T04:06:30.443Z,1761365190.443 [DAT](INFO): Rx dataTimestamp_ set to:1761365190.442430
2025-10-25T04:06:30.445Z,1761365190.445 [DAT](INFO): DAT read: Bearing   1.0,  -4.6 (Local)

2025-10-25T04:06:30.445Z,1761365190.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -4.6 (Local)

2025-10-25T04:06:30.447Z,1761365190.447 [DAT](INFO): DAT read: Range 10 to 50 :    11.0 m (trip time 7.3 ms) speed 0.4

2025-10-25T04:06:30.453Z,1761365190.453 [DAT](INFO): DAT read: 04:06:29.6350 LVL= 25120, 32753, 23682, 32755, AGC= 54, IDX= 499, 0.31,-0.220,-1.682,-0.202,-0.359, PHS= 0.227,-1.277, 0.154, RAW= 147.5,  12.2, CAL= 149.0,   4.6, ROT=   1.0,  -4.6

2025-10-25T04:06:30.454Z,1761365190.454 [DAT](INFO): got valid direction response:
 04:06:29.6350 LVL= 25120, 32753, 23682, 32755, AGC= 54, IDX= 499, 0.31,-0.220,-1.682,-0.202,-0.359, PHS= 0.227,-1.277, 0.154, RAW= 147.5,  12.2, CAL= 149.0,   4.6, ROT=   1.0,  -4.6

2025-10-25T04:06:30.454Z,1761365190.454 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-10-25T04:06:30.455Z,1761365190.455 [DAT](INFO): direction in FSK: [0.996627,0.017396,0.080199]
2025-10-25T04:06:30.455Z,1761365190.455 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:30.464Z,1761365190.464 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.980927
2025-10-25T04:06:30.603Z,1761365190.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879954,0.474397,-0.025049],[-0.474932,0.877281,-0.069405],[-0.010950,0.072970,0.997274]]
2025-10-25T04:06:30.675Z,1761365190.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503909 s,
      deltaX: -0.300000 m,
      approachRate: -0.595346 m/s,
      rangeRepo size: 4

2025-10-25T04:06:30.681Z,1761365190.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.946165 m,
      bearing: 332.303625 deg,
      lat: 36.779463 deg,
      lon: -121.859727 deg,
      deltaT: 0.503909 s,
      deltaX: -0.298532 m,
      approachRate: -0.592433 m/s,
      posRepo size: 4

2025-10-25T04:06:30.682Z,1761365190.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m.
2025-10-25T04:06:30.691Z,1761365190.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.946165 m,
      nav range: 10.861989 m,
      bearing: 333.005787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 324.723941 deg,
      new cmd heading: 324.144887 deg.

2025-10-25T04:06:30.694Z,1761365190.694 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.210819
2025-10-25T04:06:30.697Z,1761365190.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657395 target range: 10.946165 and range: 11.00 m.
2025-10-25T04:06:30.946Z,1761365190.946 [DAT](INFO): DAT read: Rx Time:04:06:30.1349 

2025-10-25T04:06:30.947Z,1761365190.947 [DAT](INFO): Rx dataTimestamp_ set to:1761365190.946438
2025-10-25T04:06:30.948Z,1761365190.948 [DAT](INFO): DAT read: Bearing   1.4,  -4.8 (Local)

2025-10-25T04:06:30.948Z,1761365190.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  -4.8 (Local)

2025-10-25T04:06:30.950Z,1761365190.950 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-10-25T04:06:30.955Z,1761365190.955 [DAT](INFO): DAT read: 04:06:30.1349 LVL= 27472, 32753, 24130, 32755, AGC= 54, IDX= 499, 0.01, 0.001,-1.444, 0.008,-0.139, PHS= 0.227,-1.258, 0.143, RAW= 147.1,  12.3, CAL= 148.6,   4.8, ROT=   1.4,  -4.8

2025-10-25T04:06:30.956Z,1761365190.956 [DAT](INFO): got valid direction response:
 04:06:30.1349 LVL= 27472, 32753, 24130, 32755, AGC= 54, IDX= 499, 0.01, 0.001,-1.444, 0.008,-0.139, PHS= 0.227,-1.258, 0.143, RAW= 147.1,  12.3, CAL= 148.6,   4.8, ROT=   1.4,  -4.8

2025-10-25T04:06:30.957Z,1761365190.957 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-25T04:06:30.958Z,1761365190.958 [DAT](INFO): direction in FSK: [0.996195,0.024346,0.083678]
2025-10-25T04:06:30.958Z,1761365190.958 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:30.970Z,1761365190.970 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.487255
2025-10-25T04:06:31.028Z,1761365191.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876557,0.480773,-0.022476],[-0.481193,0.874434,-0.061800],[-0.010058,0.064986,0.997835]]
2025-10-25T04:06:31.178Z,1761365191.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504008 s,
      deltaX: -0.200000 m,
      approachRate: -0.396819 m/s,
      rangeRepo size: 4

2025-10-25T04:06:31.180Z,1761365191.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.747145 m,
      bearing: 332.318616 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 0.504008 s,
      deltaX: -0.199020 m,
      approachRate: -0.394875 m/s,
      posRepo size: 4

2025-10-25T04:06:31.185Z,1761365191.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m.
2025-10-25T04:06:31.188Z,1761365191.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.747145 m,
      nav range: 10.682845 m,
      bearing: 332.668090 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 324.144877 deg,
      new cmd heading: 323.262257 deg.

2025-10-25T04:06:31.193Z,1761365191.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641991 target range: 10.747145 and range: 10.80 m.
2025-10-25T04:06:31.198Z,1761365191.198 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.714916
2025-10-25T04:06:31.450Z,1761365191.450 [DAT](INFO): DAT read: Rx Time:04:06:30.6347 

2025-10-25T04:06:31.451Z,1761365191.451 [DAT](INFO): Rx dataTimestamp_ set to:1761365191.450381
2025-10-25T04:06:31.452Z,1761365191.452 [DAT](INFO): DAT read: Bearing   1.0,  -3.9 (Local)

2025-10-25T04:06:31.452Z,1761365191.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  -3.9 (Local)

2025-10-25T04:06:31.454Z,1761365191.454 [DAT](INFO): DAT read: Range 10 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-10-25T04:06:31.459Z,1761365191.459 [DAT](INFO): DAT read: 04:06:30.6347 LVL= 22880, 31409, 21218, 32755, AGC= 55, IDX= 497,-0.32,-1.911, 2.919,-1.890,-2.061, PHS= 0.238,-1.256, 0.168, RAW= 147.6,  11.6, CAL= 149.0,   3.9, ROT=   1.0,  -3.9

2025-10-25T04:06:31.461Z,1761365191.461 [DAT](INFO): got valid direction response:
 04:06:30.6347 LVL= 22880, 31409, 21218, 32755, AGC= 55, IDX= 497,-0.32,-1.911, 2.919,-1.890,-2.061, PHS= 0.238,-1.256, 0.168, RAW= 147.6,  11.6, CAL= 149.0,   3.9, ROT=   1.0,  -3.9

2025-10-25T04:06:31.462Z,1761365191.462 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-10-25T04:06:31.463Z,1761365191.463 [DAT](INFO): direction in FSK: [0.997532,0.017412,0.068015]
2025-10-25T04:06:31.463Z,1761365191.463 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:31.471Z,1761365191.471 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.987988
2025-10-25T04:06:31.528Z,1761365191.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.503943 s,
      deltaX: -0.300000 m,
      approachRate: -0.595306 m/s,
      rangeRepo size: 4

2025-10-25T04:06:31.544Z,1761365191.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.449004 m,
      bearing: 331.978653 deg,
      lat: 36.779463 deg,
      lon: -121.859727 deg,
      deltaT: 0.503943 s,
      deltaX: -0.298141 m,
      approachRate: -0.591616 m/s,
      posRepo size: 4

2025-10-25T04:06:31.557Z,1761365191.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m.
2025-10-25T04:06:31.560Z,1761365191.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.449004 m,
      nav range: 10.508636 m,
      bearing: 332.204236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 323.262253 deg,
      new cmd heading: 322.633015 deg.

2025-10-25T04:06:31.573Z,1761365191.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631008 target range: 10.449004 and range: 10.50 m.
2025-10-25T04:06:31.702Z,1761365191.702 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.218960
2025-10-25T04:06:31.903Z,1761365191.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868751,0.494863,-0.019566],[-0.495178,0.867275,-0.051308],[-0.008421,0.054262,0.998491]]
2025-10-25T04:06:31.954Z,1761365191.954 [DAT](INFO): DAT read: Rx Time:04:06:31.1348 

2025-10-25T04:06:31.955Z,1761365191.955 [DAT](INFO): Rx dataTimestamp_ set to:1761365191.954444
2025-10-25T04:06:31.956Z,1761365191.956 [DAT](INFO): DAT read: Bearing 350.0,  -5.9 (Local)

2025-10-25T04:06:31.957Z,1761365191.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0,  -5.9 (Local)

2025-10-25T04:06:31.959Z,1761365191.959 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-10-25T04:06:31.965Z,1761365191.965 [DAT](INFO): DAT read: 04:06:31.1348 LVL= 23728, 32753, 21570, 32755, AGC= 53, IDX= 512, 0.21, 0.776,-0.682, 1.211, 0.876, PHS=-0.012,-1.511, 0.332, RAW= 160.1,  13.9, CAL= 160.0,   5.9, ROT= 350.0,  -5.9

2025-10-25T04:06:31.966Z,1761365191.966 [DAT](INFO): got valid direction response:
 04:06:31.1348 LVL= 23728, 32753, 21570, 32755, AGC= 53, IDX= 512, 0.21, 0.776,-0.682, 1.211, 0.876, PHS=-0.012,-1.511, 0.332, RAW= 160.1,  13.9, CAL= 160.0,   5.9, ROT= 350.0,  -5.9

2025-10-25T04:06:31.966Z,1761365191.966 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-10-25T04:06:31.967Z,1761365191.967 [DAT](INFO): direction in FSK: [0.979591,-0.172728,0.102793]
2025-10-25T04:06:31.967Z,1761365191.967 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:31.981Z,1761365191.981 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.493629
2025-10-25T04:06:32.015Z,1761365192.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504063 s,
      deltaX: 0.200000 m,
      approachRate: 0.396775 m/s,
      rangeRepo size: 4

2025-10-25T04:06:32.022Z,1761365192.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.648032 m,
      bearing: 320.023385 deg,
      lat: 36.779463 deg,
      lon: -121.859728 deg,
      deltaT: 0.504063 s,
      deltaX: 0.199028 m,
      approachRate: 0.394848 m/s,
      posRepo size: 4

2025-10-25T04:06:32.022Z,1761365192.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m.
2025-10-25T04:06:32.038Z,1761365192.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.648032 m,
      nav range: 10.280271 m,
      bearing: 331.803477 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591164 deg/s,
      cmd heading: 322.633001 deg,
      new cmd heading: 321.768030 deg.

2025-10-25T04:06:32.039Z,1761365192.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615911 target range: 10.648032 and range: 10.70 m.
2025-10-25T04:06:32.206Z,1761365192.206 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.722893
2025-10-25T04:06:32.252Z,1761365192.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864231,0.502755,-0.018478],[-0.503028,0.862933,-0.048063],[-0.008219,0.050833,0.998673]]
2025-10-25T04:06:32.325Z,1761365192.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:32.327Z,1761365192.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m.
2025-10-25T04:06:32.335Z,1761365192.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.648032 m,
      nav range: 10.137404 m,
      bearing: 331.683462 deg,
      approach rate: -0.457500 m/s,
      LOS rate: -0.389738 deg/s,
      cmd heading: 321.768026 deg,
      new cmd heading: 321.402914 deg.

2025-10-25T04:06:32.336Z,1761365192.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609539 target range: 10.648032 and range: 10.70 m.
2025-10-25T04:06:32.459Z,1761365192.459 [DAT](INFO): DAT read: Rx Time:04:06:31.6345 

2025-10-25T04:06:32.460Z,1761365192.460 [DAT](INFO): Rx dataTimestamp_ set to:1761365192.459921
2025-10-25T04:06:32.463Z,1761365192.463 [DAT](INFO): DAT read: Bearing   1.9,  -5.3 (Local)

2025-10-25T04:06:32.464Z,1761365192.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  -5.3 (Local)

2025-10-25T04:06:32.468Z,1761365192.468 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-25T04:06:32.473Z,1761365192.473 [DAT](INFO): DAT read: 04:06:31.6345 LVL= 24368, 32753, 21922, GC= 54, IDX= 510,-0.06,-2.596, 2.240,-2.610,-2.736, PHS= 0.228,-1.259, 0.124, RAW= 146.4,  12.6, CAL= 148.1,   5.3, ROT=   1.9,  -5.3

2025-10-25T04:06:32.474Z,1761365192.474 [DAT](INFO): unknown deviceResponse_: 04:06:31.6345 LVL= 24368, 32753, 21922, GC= 54, IDX= 510,-0.06,-2.596, 2.240,-2.610,-2.736, PHS= 0.228,-1.259, 0.124, RAW= 146.4,  12.6, CAL= 148.1,   5.3, ROT=   1.9,  -5.3

2025-10-25T04:06:32.474Z,1761365192.474 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-25T04:06:32.475Z,1761365192.475 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.992496
2025-10-25T04:06:32.674Z,1761365192.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860119,0.509778,-0.017954],[-0.510030,0.858920,-0.046103],[-0.008081,0.048811,0.998775]]
2025-10-25T04:06:32.710Z,1761365192.710 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.226910
2025-10-25T04:06:32.751Z,1761365192.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.505477 s,
      deltaX: -0.500000 m,
      approachRate: -0.989165 m/s,
      rangeRepo size: 4

2025-10-25T04:06:32.751Z,1761365192.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m.
2025-10-25T04:06:32.785Z,1761365192.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.648032 m,
      nav range: 9.932427 m,
      bearing: 331.515056 deg,
      approach rate: -0.484496 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 321.402912 deg,
      new cmd heading: 320.887281 deg.

2025-10-25T04:06:32.786Z,1761365192.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600540 target range: 10.648032 and range: 10.20 m.
2025-10-25T04:06:32.963Z,1761365192.963 [DAT](INFO): DAT read: Rx Time:04:06:32.1345 

2025-10-25T04:06:32.964Z,1761365192.964 [DAT](INFO): Rx dataTimestamp_ set to:1761365192.963425
2025-10-25T04:06:32.965Z,1761365192.965 [DAT](INFO): DAT read: Bearing   2.5,  -5.4 (Local)

2025-10-25T04:06:32.965Z,1761365192.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  -5.4 (Local)

2025-10-25T04:06:32.967Z,1761365192.967 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-10-25T04:06:32.972Z,1761365192.972 [DAT](INFO): DAT read: 04:06:32.1345 LVL= 27568, 32753, 23538, 32755, AGC= 53, IDX= 510,-0.45,-0.584,-2.034,-0.622,-0.734, PHS= 0.238,-1.253, 0.109, RAW= 145.5,  12.6, CAL= 147.5,   5.4, ROT=   2.5,  -5.4

2025-10-25T04:06:32.973Z,1761365192.973 [DAT](INFO): got valid direction response:
 04:06:32.1345 LVL= 27568, 32753, 23538, 32755, AGC= 53, IDX= 510,-0.45,-0.584,-2.034,-0.622,-0.734, PHS= 0.238,-1.253, 0.109, RAW= 145.5,  12.6, CAL= 147.5,   5.4, ROT=   2.5,  -5.4

2025-10-25T04:06:32.974Z,1761365192.974 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-10-25T04:06:32.975Z,1761365192.975 [DAT](INFO): direction in FSK: [0.994614,0.043426,0.094108]
2025-10-25T04:06:32.975Z,1761365192.975 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:32.989Z,1761365192.989 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.506233
2025-10-25T04:06:33.185Z,1761365193.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855197,0.518013,-0.017323],[-0.518238,0.854086,-0.044349],[-0.008178,0.046904,0.998866]]
2025-10-25T04:06:33.214Z,1761365193.214 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.730835
2025-10-25T04:06:33.349Z,1761365193.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503504 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:33.351Z,1761365193.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.150908 m,
      bearing: 331.026387 deg,
      lat: 36.779463 deg,
      lon: -121.859728 deg,
      deltaT: 1.008981 s,
      deltaX: -0.497125 m,
      approachRate: -0.492700 m/s,
      posRepo size: 4

2025-10-25T04:06:33.352Z,1761365193.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m.
2025-10-25T04:06:33.374Z,1761365193.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.150908 m,
      nav range: 9.665889 m,
      bearing: 331.282011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 320.887287 deg,
      new cmd heading: 320.164210 deg.

2025-10-25T04:06:33.382Z,1761365193.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587920 target range: 10.150908 and range: 10.20 m.
2025-10-25T04:06:33.469Z,1761365193.469 [DAT](INFO): DAT read: Rx Time:04:06:32.6342 

2025-10-25T04:06:33.469Z,1761365193.469 [DAT](INFO): Rx dataTimestamp_ set to:1761365193.469012
2025-10-25T04:06:33.471Z,1761365193.471 [DAT](INFO): DAT read: Bearing   3.0,  -7.5 (Local)

2025-10-25T04:06:33.472Z,1761365193.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  -7.5 (Local)

2025-10-25T04:06:33.476Z,1761365193.476 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-10-25T04:06:33.483Z,1761365193.483 [DAT](INFO): DAT read: 04:06:32.6342 LVL= 27408, 32753, 22658, 32755, AGC= 53, IDX= 507, 0.09,-0.328,-1.789,-0.384,-0.447, PHS= 0.207,-1.295, 0.060, RAW= 144.9,  14.2, CAL= 147.0,   7.5, ROT=   3.0,  -7.5

2025-10-25T04:06:33.493Z,1761365193.493 [DAT](INFO): got valid direction response:
 04:06:32.6342 LVL= 27408, 32753, 22658, 32755, AGC= 53, IDX= 507, 0.09,-0.328,-1.789,-0.384,-0.447, PHS= 0.207,-1.295, 0.060, RAW= 144.9,  14.2, CAL= 147.0,   7.5, ROT=   3.0,  -7.5

2025-10-25T04:06:33.493Z,1761365193.493 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-10-25T04:06:33.495Z,1761365193.495 [DAT](INFO): direction in FSK: [0.990086,0.051888,0.130526]
2025-10-25T04:06:33.495Z,1761365193.495 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:33.507Z,1761365193.507 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.024376
2025-10-25T04:06:33.711Z,1761365193.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845240,0.534124,-0.016723],[-0.534330,0.844284,-0.040945],[-0.007751,0.043544,0.999021]]
2025-10-25T04:06:33.719Z,1761365193.719 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.236397
2025-10-25T04:06:33.882Z,1761365193.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.505587 s,
      deltaX: -0.400000 m,
      approachRate: -0.791159 m/s,
      rangeRepo size: 4

2025-10-25T04:06:33.898Z,1761365193.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.752833 m,
      bearing: 330.366786 deg,
      lat: 36.779464 deg,
      lon: -121.859731 deg,
      deltaT: 0.505587 s,
      deltaX: -0.398074 m,
      approachRate: -0.787350 m/s,
      posRepo size: 4

2025-10-25T04:06:33.899Z,1761365193.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m.
2025-10-25T04:06:33.906Z,1761365193.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-10-25T04:06:33.906Z,1761365193.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-10-25T04:06:33.920Z,1761365193.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 9.597979 m,
      bearing: 330.100303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 320.164216 deg,
      new cmd heading: 319.516620 deg.

2025-10-25T04:06:33.921Z,1761365193.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576617 target range: 9.752833 and range: 9.80 m.
2025-10-25T04:06:33.972Z,1761365193.972 [DAT](INFO): DAT read: Rx Time:04:06:33.1341 

2025-10-25T04:06:33.972Z,1761365193.972 [DAT](INFO): Rx dataTimestamp_ set to:1761365193.971741
2025-10-25T04:06:33.974Z,1761365193.974 [DAT](INFO): DAT read: Bearing   4.7,  -8.3 (Local)

2025-10-25T04:06:33.975Z,1761365193.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  -8.3 (Local)

2025-10-25T04:06:33.979Z,1761365193.979 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-10-25T04:06:33.986Z,1761365193.986 [DAT](INFO): DAT read: 04:06:33.1341 LVL= 27936, 32753, 21490, 32755, AGC= 55, IDX= 506,-0.23,-1.894, 2.913,-2.010,-2.030, PHS= 0.224,-1.293, 0.017, RAW= 142.8,  14.6, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-10-25T04:06:33.987Z,1761365193.987 [DAT](INFO): got valid direction response:
 04:06:33.1341 LVL= 27936, 32753, 21490, 32755, AGC= 55, IDX= 506,-0.23,-1.894, 2.913,-2.010,-2.030, PHS= 0.224,-1.293, 0.017, RAW= 142.8,  14.6, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-10-25T04:06:33.988Z,1761365193.988 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-10-25T04:06:33.991Z,1761365193.991 [DAT](INFO): direction in FSK: [0.986198,0.081080,0.144356]
2025-10-25T04:06:33.991Z,1761365193.991 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:33.995Z,1761365193.995 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.512627
2025-10-25T04:06:34.168Z,1761365194.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840023,0.542289,-0.016831],[-0.542494,0.839083,-0.040497],[-0.007839,0.043149,0.999038]]
2025-10-25T04:06:34.222Z,1761365194.222 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.738811
2025-10-25T04:06:34.326Z,1761365194.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.502729 s,
      deltaX: -0.200000 m,
      approachRate: -0.397828 m/s,
      rangeRepo size: 4

2025-10-25T04:06:34.334Z,1761365194.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.553796 m,
      bearing: 331.476353 deg,
      lat: 36.779465 deg,
      lon: -121.859731 deg,
      deltaT: 0.502729 s,
      deltaX: -0.199038 m,
      approachRate: -0.395914 m/s,
      posRepo size: 4

2025-10-25T04:06:34.335Z,1761365194.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.75 m.
2025-10-25T04:06:34.342Z,1761365194.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 9.320727 m,
      bearing: 330.190270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 319.516632 deg,
      new cmd heading: 318.966704 deg.

2025-10-25T04:06:34.343Z,1761365194.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.567019 target range: 9.752833 and range: 9.60 m.
2025-10-25T04:06:34.474Z,1761365194.474 [DAT](INFO): DAT read: Rx Time:04:06:33.6338 

2025-10-25T04:06:34.475Z,1761365194.475 [DAT](INFO): Rx dataTimestamp_ set to:1761365194.474635
2025-10-25T04:06:34.476Z,1761365194.476 [DAT](INFO): DAT read: Bearing   4.7,  -7.8 (Local)

2025-10-25T04:06:34.477Z,1761365194.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  -7.8 (Local)

2025-10-25T04:06:34.489Z,1761365194.489 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-10-25T04:06:34.523Z,1761365194.523 [DAT](INFO): DAT read: 04:06:33.6338 LVL= 32368, 32753, 25074, 32755, AGC= 55, IDX= 503, 0.18,-0.360,-1.862,-0.480,-0.509, PHS= 0.237,-1.306, 0.026, RAW= 142.8,  14.3, CAL= 145.3,   7.8, ROT=   4.7,  -7.8

2025-10-25T04:06:34.524Z,1761365194.524 [DAT](INFO): got valid direction response:
 04:06:33.6338 LVL= 32368, 32753, 25074, 32755, AGC= 55, IDX= 503, 0.18,-0.360,-1.862,-0.480,-0.509, PHS= 0.237,-1.306, 0.026, RAW= 142.8,  14.3, CAL= 145.3,   7.8, ROT=   4.7,  -7.8

2025-10-25T04:06:34.524Z,1761365194.524 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-10-25T04:06:34.537Z,1761365194.537 [DAT](INFO): direction in FSK: [0.987416,0.081180,0.135716]
2025-10-25T04:06:34.538Z,1761365194.538 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:34.550Z,1761365194.550 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.066772
2025-10-25T04:06:34.682Z,1761365194.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835076,0.549869,-0.017073],[-0.550076,0.834136,-0.040411],[-0.007980,0.043138,0.999037]]
2025-10-25T04:06:34.726Z,1761365194.726 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.243095
2025-10-25T04:06:34.756Z,1761365194.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.502894 s,
      deltaX: -0.400001 m,
      approachRate: -0.795397 m/s,
      rangeRepo size: 4

2025-10-25T04:06:34.763Z,1761365194.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.155468 m,
      bearing: 330.979860 deg,
      lat: 36.779465 deg,
      lon: -121.859731 deg,
      deltaT: 1.005623 s,
      deltaX: -0.597365 m,
      approachRate: -0.594025 m/s,
      posRepo size: 4

2025-10-25T04:06:34.769Z,1761365194.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.75 m.
2025-10-25T04:06:34.772Z,1761365194.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 9.092445 m,
      bearing: 330.281544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 318.966692 deg,
      new cmd heading: 318.445247 deg.

2025-10-25T04:06:34.777Z,1761365194.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.557918 target range: 9.752833 and range: 9.20 m.
2025-10-25T04:06:34.979Z,1761365194.979 [DAT](INFO): DAT read: Rx Time:04:06:34.1338 

2025-10-25T04:06:34.980Z,1761365194.980 [DAT](INFO): Rx dataTimestamp_ set to:1761365194.979358
2025-10-25T04:06:34.981Z,1761365194.981 [DAT](INFO): DAT read: Bearing   7.2, -10.3 (Local)

2025-10-25T04:06:34.982Z,1761365194.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2, -10.3 (Local)

2025-10-25T04:06:34.984Z,1761365194.984 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-10-25T04:06:34.989Z,1761365194.989 [DAT](INFO): DAT read: 04:06:34.1338 LVL= 30096, 32753, 24418, 32755, AGC= 54, IDX= 503,-0.34,-0.110,-1.624,-0.312,-0.249, PHS= 0.228,-1.328,-0.066, RAW= 139.8,  16.1, CAL= 142.8,  10.3, ROT=   7.2, -10.3

2025-10-25T04:06:34.990Z,1761365194.990 [DAT](INFO): got valid direction response:
 04:06:34.1338 LVL= 30096, 32753, 24418, 32755, AGC= 54, IDX= 503,-0.34,-0.110,-1.624,-0.312,-0.249, PHS= 0.228,-1.328,-0.066, RAW= 139.8,  16.1, CAL= 142.8,  10.3, ROT=   7.2, -10.3

2025-10-25T04:06:34.990Z,1761365194.990 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-25T04:06:34.991Z,1761365194.991 [DAT](INFO): direction in FSK: [0.976127,0.123313,0.178802]
2025-10-25T04:06:34.992Z,1761365194.992 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:34.996Z,1761365194.996 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.513176
2025-10-25T04:06:35.196Z,1761365195.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.504723 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:35.199Z,1761365195.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.155468 m,
      bearing: 333.364015 deg,
      lat: 36.779466 deg,
      lon: -121.859730 deg,
      deltaT: 1.510346 s,
      deltaX: -0.597365 m,
      approachRate: -0.395516 m/s,
      posRepo size: 4

2025-10-25T04:06:35.200Z,1761365195.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.75 m.
2025-10-25T04:06:35.206Z,1761365195.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 8.845374 m,
      bearing: 330.495410 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 318.445248 deg,
      new cmd heading: 317.907100 deg.

2025-10-25T04:06:35.207Z,1761365195.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548526 target range: 9.752833 and range: 9.20 m.
2025-10-25T04:06:35.230Z,1761365195.230 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.746887
2025-10-25T04:06:35.482Z,1761365195.482 [DAT](INFO): DAT read: Rx Time:04:06:34.6335 

2025-10-25T04:06:35.483Z,1761365195.483 [DAT](INFO): Rx dataTimestamp_ set to:1761365195.482406
2025-10-25T04:06:35.484Z,1761365195.484 [DAT](INFO): DAT read: Bearing   8.3, -12.3 (Local)

2025-10-25T04:06:35.484Z,1761365195.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3, -12.3 (Local)

2025-10-25T04:06:35.486Z,1761365195.486 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-10-25T04:06:35.492Z,1761365195.492 [DAT](INFO): DAT read: 04:06:34.6335 LVL= 32752, 32753, 24690, 32755, AGC= 54, IDX= 500,-0.09, 0.171,-1.324,-0.058, 0.063, PHS= 0.196,-1.341,-0.124, RAW= 138.6,  17.7, CAL= 141.7,  12.3, ROT=   8.3, -12.3

2025-10-25T04:06:35.494Z,1761365195.494 [DAT](INFO): got valid direction response:
 04:06:34.6335 LVL= 32752, 32753, 24690, 32755, AGC= 54, IDX= 500,-0.09, 0.171,-1.324,-0.058, 0.063, PHS= 0.196,-1.341,-0.124, RAW= 138.6,  17.7, CAL= 141.7,  12.3, ROT=   8.3, -12.3

2025-10-25T04:06:35.495Z,1761365195.495 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-10-25T04:06:35.495Z,1761365195.495 [DAT](INFO): direction in FSK: [0.966812,0.141043,0.213030]
2025-10-25T04:06:35.496Z,1761365195.496 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:35.500Z,1761365195.500 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.017086
2025-10-25T04:06:35.502Z,1761365195.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824606,0.565437,-0.017472],[-0.565641,0.823643,-0.040773],[-0.008664,0.043504,0.999016]]
2025-10-25T04:06:35.556Z,1761365195.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503048 s,
      deltaX: -0.500000 m,
      approachRate: -0.993941 m/s,
      rangeRepo size: 4

2025-10-25T04:06:35.566Z,1761365195.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.657877 m,
      bearing: 333.290721 deg,
      lat: 36.779465 deg,
      lon: -121.859730 deg,
      deltaT: 2.013394 s,
      deltaX: -1.094956 m,
      approachRate: -0.543836 m/s,
      posRepo size: 4

2025-10-25T04:06:35.567Z,1761365195.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.75 m.
2025-10-25T04:06:35.574Z,1761365195.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 8.648549 m,
      bearing: 330.699597 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 317.907111 deg,
      new cmd heading: 317.468241 deg.

2025-10-25T04:06:35.575Z,1761365195.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.540866 target range: 9.752833 and range: 8.70 m.
2025-10-25T04:06:35.734Z,1761365195.734 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.250851
2025-10-25T04:06:35.936Z,1761365195.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819401,0.572951,-0.017595],[-0.573145,0.818404,-0.041466],[-0.009358,0.044062,0.998985]]
2025-10-25T04:06:35.986Z,1761365195.986 [DAT](INFO): DAT read: Rx Time:04:06:35.1334 

2025-10-25T04:06:35.987Z,1761365195.987 [DAT](INFO): Rx dataTimestamp_ set to:1761365195.986385
2025-10-25T04:06:35.988Z,1761365195.988 [DAT](INFO): DAT read: Bearing   8.4, -12.3 (Local)

2025-10-25T04:06:35.988Z,1761365195.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4, -12.3 (Local)

2025-10-25T04:06:35.990Z,1761365195.990 [DAT](INFO): DAT read: Range 10 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-10-25T04:06:35.997Z,1761365195.997 [DAT](INFO): DAT read: 04:06:35.1334 LVL= 32752, 32753, 26546, 32755, AGC= 54, IDX= 499, 0.10,-3.002, 1.768, 3.045,-3.113, PHS= 0.199,-1.356,-0.128, RAW= 138.5,  17.7, CAL= 141.6,  12.3, ROT=   8.4, -12.3

2025-10-25T04:06:35.998Z,1761365195.998 [DAT](INFO): got valid direction response:
 04:06:35.1334 LVL= 32752, 32753, 26546, 32755, AGC= 54, IDX= 499, 0.10,-3.002, 1.768, 3.045,-3.113, PHS= 0.199,-1.356,-0.128, RAW= 138.5,  17.7, CAL= 141.6,  12.3, ROT=   8.4, -12.3

2025-10-25T04:06:35.998Z,1761365195.998 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-10-25T04:06:35.999Z,1761365195.999 [DAT](INFO): direction in FSK: [0.966564,0.142730,0.213030]
2025-10-25T04:06:35.999Z,1761365195.999 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:36.007Z,1761365196.007 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.524189
2025-10-25T04:06:36.090Z,1761365196.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.503979 s,
      deltaX: -0.099999 m,
      approachRate: -0.198420 m/s,
      rangeRepo size: 4

2025-10-25T04:06:36.092Z,1761365196.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.558362 m,
      bearing: 332.858984 deg,
      lat: 36.779465 deg,
      lon: -121.859729 deg,
      deltaT: 2.517373 s,
      deltaX: -1.194471 m,
      approachRate: -0.474491 m/s,
      posRepo size: 4

2025-10-25T04:06:36.097Z,1761365196.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.75 m.
2025-10-25T04:06:36.099Z,1761365196.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 8.355778 m,
      bearing: 331.098531 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 317.468231 deg,
      new cmd heading: 316.833055 deg.

2025-10-25T04:06:36.109Z,1761365196.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529780 target range: 9.752833 and range: 8.60 m.
2025-10-25T04:06:36.238Z,1761365196.238 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.754810
2025-10-25T04:06:36.450Z,1761365196.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814295,0.580165,-0.018215],[-0.580365,0.813233,-0.042758],[-0.009994,0.045389,0.998919]]
2025-10-25T04:06:36.523Z,1761365196.523 [DAT](INFO): DAT read: Rx Time:04:06:35.6332 

2025-10-25T04:06:36.523Z,1761365196.523 [DAT](INFO): Rx dataTimestamp_ set to:1761365196.522726
2025-10-25T04:06:36.541Z,1761365196.541 [DAT](INFO): DAT read: Bearing   9.4, -10.2 (Local)

2025-10-25T04:06:36.541Z,1761365196.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4, -10.2 (Local)

2025-10-25T04:06:36.543Z,1761365196.543 [DAT](INFO): DAT read: Range 10 to 50 :     8.1 m (trip time 5.4 ms) speed 0.4

2025-10-25T04:06:36.561Z,1761365196.561 [DAT](INFO): DAT read: 04:06:35.6332 LVL= 32752, 32753, 30002, 32755, AGC= 53, IDX= 496, 0.32, 1.497,-0.139, 1.197, 1.300, PHS= 0.285,-1.392,-0.106, RAW= 137.1,  15.8, CAL= 140.6,  10.2, ROT=   9.4, -10.2

2025-10-25T04:06:36.562Z,1761365196.562 [DAT](INFO): got valid direction response:
 04:06:35.6332 LVL= 32752, 32753, 30002, 32755, AGC= 53, IDX= 496, 0.32, 1.497,-0.139, 1.197, 1.300, PHS= 0.285,-1.392,-0.106, RAW= 137.1,  15.8, CAL= 140.6,  10.2, ROT=   9.4, -10.2

2025-10-25T04:06:36.563Z,1761365196.563 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-10-25T04:06:36.564Z,1761365196.564 [DAT](INFO): direction in FSK: [0.970980,0.160745,0.177085]
2025-10-25T04:06:36.564Z,1761365196.564 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:36.575Z,1761365196.575 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:06:36.575Z,1761365196.575 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:06:36.576Z,1761365196.576 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:36.608Z,1761365196.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 0.536341 s,
      deltaX: -0.500000 m,
      approachRate: -0.932243 m/s,
      rangeRepo size: 4

2025-10-25T04:06:36.618Z,1761365196.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.060540 m,
      bearing: 333.433744 deg,
      lat: 36.779464 deg,
      lon: -121.859728 deg,
      deltaT: 3.053714 s,
      deltaX: -1.692293 m,
      approachRate: -0.554175 m/s,
      posRepo size: 4

2025-10-25T04:06:36.619Z,1761365196.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.75 m.
2025-10-25T04:06:36.626Z,1761365196.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 8.054890 m,
      bearing: 331.559079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 316.833051 deg,
      new cmd heading: 316.186441 deg.

2025-10-25T04:06:36.627Z,1761365196.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518495 target range: 9.752833 and range: 8.10 m.
2025-10-25T04:06:36.742Z,1761365196.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:36.991Z,1761365196.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803774,0.594619,-0.019388],[-0.594820,0.802550,-0.045846],[-0.011701,0.048383,0.998760]]
2025-10-25T04:06:36.995Z,1761365196.995 [DAT](INFO): DAT read: Rx Time:04:06:36.1331 

2025-10-25T04:06:36.995Z,1761365196.995 [DAT](INFO): Rx dataTimestamp_ set to:1761365196.994998
2025-10-25T04:06:36.997Z,1761365196.997 [DAT](INFO): DAT read: Bearing   9.3,  -9.8 (Local)

2025-10-25T04:06:36.997Z,1761365196.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.3,  -9.8 (Local)

2025-10-25T04:06:36.999Z,1761365196.999 [DAT](INFO): DAT read: Range 10 to 50 :     8.0 m (trip time 5.3 ms) speed 0.5

2025-10-25T04:06:37.004Z,1761365197.004 [DAT](INFO): DAT read: 04:06:36.1331 LVL= 32752, 32753, 30418, 32755, AGC= 54, IDX= 511, 0.38,-3.036, 1.599, 2.943, 3.040, PHS= 0.295,-1.394,-0.099, RAW= 137.1,  15.5, CAL= 140.7,   9.8, ROT=   9.3,  -9.8

2025-10-25T04:06:37.005Z,1761365197.005 [DAT](INFO): got valid direction response:
 04:06:36.1331 LVL= 32752, 32753, 30418, 32755, AGC= 54, IDX= 511, 0.38,-3.036, 1.599, 2.943, 3.040, PHS= 0.295,-1.394,-0.099, RAW= 137.1,  15.5, CAL= 140.7,   9.8, ROT=   9.3,  -9.8

2025-10-25T04:06:37.005Z,1761365197.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:37.006Z,1761365197.006 [DAT](INFO): direction in FSK: [0.972455,0.159246,0.170209]
2025-10-25T04:06:37.007Z,1761365197.007 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:37.010Z,1761365197.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:37.011Z,1761365197.011 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:37.027Z,1761365197.027 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102420080037,35.0, +11.8,496.3,  0
2025-10-25T04:06:37.086Z,1761365197.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.472272 s,
      deltaX: -0.100000 m,
      approachRate: -0.211743 m/s,
      rangeRepo size: 4

2025-10-25T04:06:37.088Z,1761365197.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.961027 m,
      bearing: 332.295442 deg,
      lat: 36.779464 deg,
      lon: -121.859728 deg,
      deltaT: 3.525986 s,
      deltaX: -1.791807 m,
      approachRate: -0.508172 m/s,
      posRepo size: 4

2025-10-25T04:06:37.093Z,1761365197.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.75 m.
2025-10-25T04:06:37.096Z,1761365197.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 7.781928 m,
      bearing: 332.046176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 316.186450 deg,
      new cmd heading: 315.603721 deg.

2025-10-25T04:06:37.102Z,1761365197.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508324 target range: 9.752833 and range: 8.00 m.
2025-10-25T04:06:37.247Z,1761365197.247 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:37.436Z,1761365197.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798063,0.602202,-0.021167],[-0.602437,0.796641,-0.049323],[-0.012840,0.052115,0.998559]]
2025-10-25T04:06:37.493Z,1761365197.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:37.496Z,1761365197.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:37.498Z,1761365197.498 [DAT](INFO): DAT read: Rx Time:04:06:36.6328 

2025-10-25T04:06:37.499Z,1761365197.499 [DAT](INFO): Rx dataTimestamp_ set to:1761365197.498457
2025-10-25T04:06:37.500Z,1761365197.500 [DAT](INFO): DAT read: Bearing   8.4,  -5.4 (Local)

2025-10-25T04:06:37.500Z,1761365197.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,  -5.4 (Local)

2025-10-25T04:06:37.502Z,1761365197.502 [DAT](INFO): DAT read: Range 10 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-10-25T04:06:37.507Z,1761365197.507 [DAT](INFO): DAT read: 04:06:36.6328 LVL= 32752, 32753, 30242, 32755, AGC= 53, IDX= 508, 0.48, 1.836 1.537, 1.521, PHS= 0.403,-1.364, 0.013, RAW= 137.9,  11.8, CAL= 141.6,   5.4, ROT=   8.4,  -5.4

2025-10-25T04:06:37.508Z,1761365197.508 [DAT](INFO): unknown deviceResponse_: 04:06:36.6328 LVL= 32752, 32753, 30242, 32755, AGC= 53, IDX= 508, 0.48, 1.836 1.537, 1.521, PHS= 0.403,-1.364, 0.013, RAW= 137.9,  11.8, CAL= 141.6,   5.4, ROT=   8.4,  -5.4

2025-10-25T04:06:37.508Z,1761365197.508 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:06:37.509Z,1761365197.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:37.510Z,1761365197.510 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:37.523Z,1761365197.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 7.548813 m,
      bearing: 332.508615 deg,
      approach rate: -0.567541 m/s,
      LOS rate: 1.160611 deg/s,
      cmd heading: 315.603726 deg,
      new cmd heading: 317.033571 deg.

2025-10-25T04:06:37.524Z,1761365197.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533280 target range: 9.752833 and range: 8.00 m.
2025-10-25T04:06:37.750Z,1761365197.750 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:37.760Z,1761365197.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792547,0.609385,-0.022804],[-0.609642,0.790892,-0.053172],[-0.014367,0.056043,0.998325]]
2025-10-25T04:06:37.924Z,1761365197.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.503459 s,
      deltaX: -0.500000 m,
      approachRate: -0.993130 m/s,
      rangeRepo size: 4

2025-10-25T04:06:37.929Z,1761365197.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:37.932Z,1761365197.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 7.358718 m,
      bearing: 332.922387 deg,
      approach rate: -0.444854 m/s,
      LOS rate: 0.993301 deg/s,
      cmd heading: 317.033585 deg,
      new cmd heading: 318.306747 deg.

2025-10-25T04:06:37.935Z,1761365197.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.555501 target range: 9.752833 and range: 7.50 m.
2025-10-25T04:06:38.002Z,1761365198.002 [DAT](INFO): DAT read: Rx Time:04:06:37.1327 

2025-10-25T04:06:38.003Z,1761365198.003 [DAT](INFO): Rx dataTimestamp_ set to:1761365198.002568
2025-10-25T04:06:38.004Z,1761365198.004 [DAT](INFO): DAT read: Bearing   6.0,   0.6 (Local)

2025-10-25T04:06:38.005Z,1761365198.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0,   0.6 (Local)

2025-10-25T04:06:38.007Z,1761365198.007 [DAT](INFO): DAT read: Range 10 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-10-25T04:06:38.013Z,1761365198.013 [DAT](INFO): DAT read: 04:06:37.1327 LVL= 29536, 32753, 22098, 32755, AGC= 55, IDX= 506, 0.32, 2.972, 1.221, 2.752, 2.552, PHS= 0.508,-1.284, 0.196, RAW= 140.6,   7.0, CAL= 144.0,  -0.6, ROT=   6.0,   0.6

2025-10-25T04:06:38.014Z,1761365198.014 [DAT](INFO): got valid direction response:
 04:06:37.1327 LVL= 29536, 32753, 22098, 32755, AGC= 55, IDX= 506, 0.32, 2.972, 1.221, 2.752, 2.552, PHS= 0.508,-1.284, 0.196, RAW= 140.6,   7.0, CAL= 144.0,  -0.6, ROT=   6.0,   0.6

2025-10-25T04:06:38.014Z,1761365198.014 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:38.015Z,1761365198.015 [DAT](INFO): direction in FSK: [0.994467,0.104523,-0.010472]
2025-10-25T04:06:38.015Z,1761365198.015 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:38.019Z,1761365198.019 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:38.019Z,1761365198.019 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:38.210Z,1761365198.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787047,0.616346,-0.025979],[-0.616690,0.785009,-0.058775],[-0.015832,0.062280,0.997933]]
2025-10-25T04:06:38.253Z,1761365198.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:38.348Z,1761365198.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.504111 s,
      deltaX: -0.100000 m,
      approachRate: -0.198369 m/s,
      rangeRepo size: 4

2025-10-25T04:06:38.363Z,1761365198.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.363885 m,
      bearing: 327.946277 deg,
      lat: 36.779464 deg,
      lon: -121.859729 deg,
      deltaT: 4.533556 s,
      deltaX: -2.388948 m,
      approachRate: -0.526948 m/s,
      posRepo size: 4

2025-10-25T04:06:38.370Z,1761365198.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.75 m.
2025-10-25T04:06:38.393Z,1761365198.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 7.090044 m,
      bearing: 333.589642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 318.306759 deg,
      new cmd heading: 317.789926 deg.

2025-10-25T04:06:38.402Z,1761365198.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546481 target range: 9.752833 and range: 7.40 m.
2025-10-25T04:06:38.507Z,1761365198.507 [DAT](INFO): DAT read: Rx Time:04:06:37.6324 

2025-10-25T04:06:38.508Z,1761365198.508 [DAT](INFO): Rx dataTimestamp_ set to:1761365198.508027
2025-10-25T04:06:38.510Z,1761365198.510 [DAT](INFO): DAT read: Bearing   5.8,   1.9 (Local)

2025-10-25T04:06:38.510Z,1761365198.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,   1.9 (Local)

2025-10-25T04:06:38.514Z,1761365198.514 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed 0.5

2025-10-25T04:06:38.538Z,1761365198.538 [DAT](INFO): DAT read: 04:06:37.6324 LVL= 22352, 31473, 18626, 30867, AGC= 54, IDX= 503, 0.19, 2.866, 1.106, 2.643, 2.412, PHS= 0.542,-1.259, 0.228, RAW= 140.6,   5.9, CAL= 144.2,  -1.9, ROT=   5.8,   1.9

2025-10-25T04:06:38.540Z,1761365198.540 [DAT](INFO): got valid direction response:
 04:06:37.6324 LVL= 22352, 31473, 18626, 30867, AGC= 54, IDX= 503, 0.19, 2.866, 1.106, 2.643, 2.412, PHS= 0.542,-1.259, 0.228, RAW= 140.6,   5.9, CAL= 144.2,  -1.9, ROT=   5.8,   1.9

2025-10-25T04:06:38.547Z,1761365198.547 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:38.553Z,1761365198.553 [DAT](INFO): direction in FSK: [0.994334,0.101001,-0.033155]
2025-10-25T04:06:38.554Z,1761365198.554 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:38.562Z,1761365198.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:38.563Z,1761365198.563 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:38.597Z,1761365198.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781685,0.623095,-0.026838],[-0.623413,0.779392,-0.062491],[-0.018020,0.065579,0.997685]]
2025-10-25T04:06:38.685Z,1761365198.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.505459 s,
      deltaX: -0.500000 m,
      approachRate: -0.989200 m/s,
      rangeRepo size: 4

2025-10-25T04:06:38.687Z,1761365198.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.866129 m,
      bearing: 327.342186 deg,
      lat: 36.779464 deg,
      lon: -121.859731 deg,
      deltaT: 5.039015 s,
      deltaX: -2.886704 m,
      approachRate: -0.572871 m/s,
      posRepo size: 4

2025-10-25T04:06:38.688Z,1761365198.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.75 m.
2025-10-25T04:06:38.700Z,1761365198.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 6.922953 m,
      bearing: 334.045215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 317.789933 deg,
      new cmd heading: 317.384617 deg.

2025-10-25T04:06:38.705Z,1761365198.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539407 target range: 9.752833 and range: 6.90 m.
2025-10-25T04:06:38.758Z,1761365198.758 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:39.001Z,1761365199.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776629,0.629441,-0.025504],[-0.629632,0.774290,-0.063552],[-0.020255,0.065415,0.997653]]
2025-10-25T04:06:39.011Z,1761365199.011 [DAT](INFO): DAT read: Rx Time:04:06:38.1324 

2025-10-25T04:06:39.012Z,1761365199.012 [DAT](INFO): Rx dataTimestamp_ set to:1761365199.011431
2025-10-25T04:06:39.013Z,1761365199.013 [DAT](INFO): DAT read: Bearing   8.9,   1.6 (Local)

2025-10-25T04:06:39.014Z,1761365199.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,   1.6 (Local)

2025-10-25T04:06:39.016Z,1761365199.016 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed 0.5

2025-10-25T04:06:39.021Z,1761365199.021 [DAT](INFO): DAT read: 04:06:38.1324 LVL= 14112, 28353, 19170, 25219, AGC= 52, IDX= 502, 0.12,-1.236,-2.947,-1.572,-1.726, PHS= 0.579,-1.174, 0.151, RAW= 136.5,   5.7, CAL= 141.1,  -1.6, ROT=   8.9,   1.6

2025-10-25T04:06:39.022Z,1761365199.022 [DAT](INFO): got valid direction response:
 04:06:38.1324 LVL= 14112, 28353, 19170, 25219, AGC= 52, IDX= 502, 0.12,-1.236,-2.947,-1.572,-1.726, PHS= 0.579,-1.174, 0.151, RAW= 136.5,   5.7, CAL= 141.1,  -1.6, ROT=   8.9,   1.6

2025-10-25T04:06:39.022Z,1761365199.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:39.023Z,1761365199.023 [DAT](INFO): direction in FSK: [0.987575,0.154650,-0.027922]
2025-10-25T04:06:39.023Z,1761365199.023 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:39.031Z,1761365199.031 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:39.032Z,1761365199.032 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:39.123Z,1761365199.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.503404 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:39.130Z,1761365199.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.866129 m,
      bearing: 329.957174 deg,
      lat: 36.779463 deg,
      lon: -121.859737 deg,
      deltaT: 5.542419 s,
      deltaX: -2.886704 m,
      approachRate: -0.520838 m/s,
      posRepo size: 4

2025-10-25T04:06:39.131Z,1761365199.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.75 m.
2025-10-25T04:06:39.138Z,1761365199.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 6.682250 m,
      bearing: 334.674577 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 317.384629 deg,
      new cmd heading: 316.845038 deg.

2025-10-25T04:06:39.139Z,1761365199.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529989 target range: 9.752833 and range: 6.90 m.
2025-10-25T04:06:39.263Z,1761365199.263 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:39.467Z,1761365199.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771346,0.636038,-0.021955],[-0.636031,0.769220,-0.061360],[-0.022138,0.061294,0.997874]]
2025-10-25T04:06:39.515Z,1761365199.515 [DAT](INFO): DAT read: Rx Time:04:06:38.6321 

2025-10-25T04:06:39.515Z,1761365199.515 [DAT](INFO): Rx dataTimestamp_ set to:1761365199.514728
2025-10-25T04:06:39.516Z,1761365199.516 [DAT](INFO): DAT read: Bearing  14.9,  -0.8 (Local)

2025-10-25T04:06:39.517Z,1761365199.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.9,  -0.8 (Local)

2025-10-25T04:06:39.519Z,1761365199.519 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-10-25T04:06:39.524Z,1761365199.524 [DAT](INFO): DAT read: 04:06:38.6321 LVL=  9792, 29329, 19026, 23523, AGC= 50, IDX= 499, 0.24,-2.970, 1.663, 2.765, 2.779, PHS= 0.622,-1.069,-0.017, RAW= 128.0,   6.3, CAL= 135.1,   0.8, ROT=  14.9,  -0.8

2025-10-25T04:06:39.525Z,1761365199.525 [DAT](INFO): got valid direction response:
 04:06:38.6321 LVL=  9792, 29329, 19026, 23523, AGC= 50, IDX= 499, 0.24,-2.970, 1.663, 2.765, 2.779, PHS= 0.622,-1.069,-0.017, RAW= 128.0,   6.3, CAL= 135.1,   0.8, ROT=  14.9,  -0.8

2025-10-25T04:06:39.525Z,1761365199.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:39.526Z,1761365199.526 [DAT](INFO): direction in FSK: [0.966282,0.257108,0.013962]
2025-10-25T04:06:39.526Z,1761365199.526 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:39.539Z,1761365199.539 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:39.539Z,1761365199.539 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:06:39.555Z,1761365199.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503297 s,
      deltaX: -0.400000 m,
      approachRate: -0.794760 m/s,
      rangeRepo size: 4

2025-10-25T04:06:39.562Z,1761365199.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.468047 m,
      bearing: 335.311525 deg,
      lat: 36.779463 deg,
      lon: -121.859737 deg,
      deltaT: 6.045716 s,
      deltaX: -3.284786 m,
      approachRate: -0.543325 m/s,
      posRepo size: 4

2025-10-25T04:06:39.563Z,1761365199.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 9.75 m.
2025-10-25T04:06:39.570Z,1761365199.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 6.475787 m,
      bearing: 335.270272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 316.845044 deg,
      new cmd heading: 316.318905 deg.

2025-10-25T04:06:39.571Z,1761365199.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520806 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:39.767Z,1761365199.767 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:06:39.842Z,1761365199.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766981,0.641331,-0.020862],[-0.641233,0.764854,-0.061790],[-0.023672,0.060769,0.997871]]
2025-10-25T04:06:39.914Z,1761365199.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:39.940Z,1761365199.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:39.956Z,1761365199.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 6.297811 m,
      bearing: 335.829275 deg,
      approach rate: -0.480348 m/s,
      LOS rate: 1.551330 deg/s,
      cmd heading: 316.318901 deg,
      new cmd heading: 318.042754 deg.

2025-10-25T04:06:39.957Z,1761365199.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.550893 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:40.018Z,1761365200.018 [DAT](INFO): DAT read: user:341>

2025-10-25T04:06:40.019Z,1761365200.019 [DAT](INFO): DAT read: 120

2025-10-25T04:06:40.019Z,1761365200.019 [DAT](INFO): unknown deviceResponse_: 120

2025-10-25T04:06:40.020Z,1761365200.020 [DAT](INFO): DAT read: Ok

2025-10-25T04:06:40.021Z,1761365200.021 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-25T04:06:40.021Z,1761365200.021 [DAT](INFO): DAT read: user:342>

2025-10-25T04:06:40.022Z,1761365200.022 [DAT](INFO): DAT read: Tx time:04:06:39.5756

2025-10-25T04:06:40.023Z,1761365200.023 [DAT](INFO): Ping request sent.
2025-10-25T04:06:40.023Z,1761365200.023 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:06:40.023Z,1761365200.023 [DAT](INFO): publishing transmit ping time
2025-10-25T04:06:40.025Z,1761365200.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001127
2025-10-25T04:06:40.262Z,1761365200.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762482,0.646687,-0.020418],[-0.646534,0.760332,-0.062359],[-0.024802,0.060748,0.997845]]
2025-10-25T04:06:40.270Z,1761365200.270 [DAT](INFO): DAT read: TxSync time:04:06:39.5749

2025-10-25T04:06:40.271Z,1761365200.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247623
2025-10-25T04:06:40.395Z,1761365200.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:40.409Z,1761365200.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 6.054029 m,
      bearing: 336.448830 deg,
      approach rate: -0.520208 m/s,
      LOS rate: 1.375287 deg/s,
      cmd heading: 318.042759 deg,
      new cmd heading: 319.975498 deg.

2025-10-25T04:06:40.410Z,1761365200.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584626 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:40.522Z,1761365200.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498575
2025-10-25T04:06:40.654Z,1761365200.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757747,0.652187,-0.021721],[-0.652084,0.755533,-0.062893],[-0.024607,0.061821,0.997784]]
2025-10-25T04:06:40.707Z,1761365200.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:40.714Z,1761365200.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.903273 m,
      bearing: 336.870255 deg,
      approach rate: -0.481685 m/s,
      LOS rate: 1.380874 deg/s,
      cmd heading: 319.975511 deg,
      new cmd heading: 321.271839 deg.

2025-10-25T04:06:40.715Z,1761365200.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607251 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:40.775Z,1761365200.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751217
2025-10-25T04:06:41.026Z,1761365201.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002629
2025-10-25T04:06:41.058Z,1761365201.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752476,0.658525,-0.011181],[-0.658184,0.751251,-0.049159],[-0.023973,0.044350,0.998728]]
2025-10-25T04:06:41.122Z,1761365201.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:41.133Z,1761365201.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.729131 m,
      bearing: 337.230505 deg,
      approach rate: -0.428536 m/s,
      LOS rate: 0.913460 deg/s,
      cmd heading: 321.271827 deg,
      new cmd heading: 322.385281 deg.

2025-10-25T04:06:41.133Z,1761365201.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626685 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:41.279Z,1761365201.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255551
2025-10-25T04:06:41.498Z,1761365201.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748692,0.662759,-0.014511],[-0.662493,0.747248,-0.052195],[-0.023749,0.048692,0.998532]]
2025-10-25T04:06:41.530Z,1761365201.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506381
2025-10-25T04:06:41.546Z,1761365201.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:41.553Z,1761365201.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.553528 m,
      bearing: 337.628674 deg,
      approach rate: -0.405587 m/s,
      LOS rate: 0.948717 deg/s,
      cmd heading: 322.385284 deg,
      new cmd heading: 323.617361 deg.

2025-10-25T04:06:41.554Z,1761365201.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648189 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:41.781Z,1761365201.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758329
2025-10-25T04:06:41.862Z,1761365201.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747297,0.664249,-0.017889],[-0.664070,0.745598,-0.055637],[-0.023619,0.053457,0.998291]]
2025-10-25T04:06:41.885Z,1761365201.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:41.888Z,1761365201.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.405395 m,
      bearing: 337.989251 deg,
      approach rate: -0.436897 m/s,
      LOS rate: 1.092601 deg/s,
      cmd heading: 323.617368 deg,
      new cmd heading: 324.728598 deg.

2025-10-25T04:06:41.889Z,1761365201.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667583 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:42.034Z,1761365202.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010572
2025-10-25T04:06:42.286Z,1761365202.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262573
2025-10-25T04:06:42.347Z,1761365202.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:42.350Z,1761365202.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:42.352Z,1761365202.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.224042 m,
      bearing: 338.300400 deg,
      approach rate: -0.390261 m/s,
      LOS rate: 0.692818 deg/s,
      cmd heading: 324.728585 deg,
      new cmd heading: 325.694341 deg.

2025-10-25T04:06:42.358Z,1761365202.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684439 target range: 9.752833 and range: 6.50 m.
2025-10-25T04:06:42.539Z,1761365202.539 [DAT](INFO): DAT read: Rx Time:04:06:41.7115 

2025-10-25T04:06:42.539Z,1761365202.539 [DAT](INFO): Rx dataTimestamp_ set to:1761365202.538723
2025-10-25T04:06:42.540Z,1761365202.540 [DAT](INFO): DAT read: Bearing  23.7,  -2.7 (Local)

2025-10-25T04:06:42.541Z,1761365202.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.7,  -2.7 (Local)

2025-10-25T04:06:42.543Z,1761365202.543 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed 0.3

2025-10-25T04:06:42.549Z,1761365202.549 [DAT](INFO): DAT read: 04:06:41.7115 LVL= 23248, 28113, 16754, 29731, AGC= 45, IDX= 514,-0.24,-1.292, 2.715,-2.475,-2.187, PHS= 0.984,-1.334,-0.291, RAW= 116.7,   6.4, CAL= 126.3,   2.7, ROT=  23.7,  -2.7

2025-10-25T04:06:42.550Z,1761365202.550 [DAT](INFO): got valid direction response:
 04:06:41.7115 LVL= 23248, 28113, 16754, 29731, AGC= 45, IDX= 514,-0.24,-1.292, 2.715,-2.475,-2.187, PHS= 0.984,-1.334,-0.291, RAW= 116.7,   6.4, CAL= 126.3,   2.7, ROT=  23.7,  -2.7

2025-10-25T04:06:42.550Z,1761365202.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-10-25T04:06:42.551Z,1761365202.551 [DAT](INFO): direction in FSK: [0.914646,0.401502,0.047106]
2025-10-25T04:06:42.551Z,1761365202.551 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:42.564Z,1761365202.564 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.540760
2025-10-25T04:06:42.739Z,1761365202.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 3.023995 s,
      deltaX: -1.400000 m,
      approachRate: -0.462964 m/s,
      rangeRepo size: 4

2025-10-25T04:06:42.746Z,1761365202.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.075454 m,
      bearing: 341.880904 deg,
      lat: 36.779463 deg,
      lon: -121.859737 deg,
      deltaT: 9.069711 s,
      deltaX: -4.677379 m,
      approachRate: -0.515714 m/s,
      posRepo size: 4

2025-10-25T04:06:42.747Z,1761365202.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.08 m. 9.75 m.
2025-10-25T04:06:42.758Z,1761365202.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 5.077573 m,
      bearing: 338.568142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 325.694347 deg,
      new cmd heading: 325.219762 deg.

2025-10-25T04:06:42.759Z,1761365202.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676156 target range: 9.752833 and range: 5.10 m.
2025-10-25T04:06:42.790Z,1761365202.790 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766606
2025-10-25T04:06:43.047Z,1761365203.047 [DAT](INFO): DAT read: Rx Time:04:06:42.2113 

2025-10-25T04:06:43.047Z,1761365203.047 [DAT](INFO): Rx dataTimestamp_ set to:1761365203.047208
2025-10-25T04:06:43.053Z,1761365203.053 [DAT](INFO): DAT read: Bearing  25.4, -10.7 (Local)

2025-10-25T04:06:43.053Z,1761365203.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.4, -10.7 (Local)

2025-10-25T04:06:43.063Z,1761365203.063 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed 0.3

2025-10-25T04:06:43.108Z,1761365203.108 [DAT](INFO): DAT read: 04:06:42.2113 LVL= 22624, 32321, 21186, 30131, AGC= 46, IDX= 511, 0.39,-0.588,-2.489,-1.554,-1.105, PHS= 0.605,-1.337,-0.452, RAW= 117.1,  14.0, CAL= 124.6,  10.7, ROT=  25.4, -10.7

2025-10-25T04:06:43.115Z,1761365203.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750843,0.659673,-0.032660],[-0.659989,0.747460,-0.075621],[-0.025473,0.078334,0.996602]]
2025-10-25T04:06:43.125Z,1761365203.125 [DAT](INFO): got valid direction response:
 04:06:42.2113 LVL= 22624, 32321, 21186, 30131, AGC= 46, IDX= 511, 0.39,-0.588,-2.489,-1.554,-1.105, PHS= 0.605,-1.337,-0.452, RAW= 117.1,  14.0, CAL= 124.6,  10.7, ROT=  25.4, -10.7

2025-10-25T04:06:43.126Z,1761365203.126 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-10-25T04:06:43.127Z,1761365203.127 [DAT](INFO): direction in FSK: [0.887629,0.421477,0.185667]
2025-10-25T04:06:43.128Z,1761365203.128 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:43.161Z,1761365203.161 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.137765
2025-10-25T04:06:43.298Z,1761365203.298 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274785
2025-10-25T04:06:43.334Z,1761365203.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.508485 s,
      deltaX: -0.300000 m,
      approachRate: -0.589987 m/s,
      rangeRepo size: 4

2025-10-25T04:06:43.336Z,1761365203.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.776898 m,
      bearing: 343.116333 deg,
      lat: 36.779463 deg,
      lon: -121.859731 deg,
      deltaT: 9.578196 s,
      deltaX: -4.975935 m,
      approachRate: -0.519507 m/s,
      posRepo size: 4

2025-10-25T04:06:43.341Z,1761365203.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.75 m.
2025-10-25T04:06:43.350Z,1761365203.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.869753 m,
      bearing: 338.826974 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 325.219758 deg,
      new cmd heading: 324.501844 deg.

2025-10-25T04:06:43.351Z,1761365203.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663626 target range: 9.752833 and range: 4.80 m.
2025-10-25T04:06:43.463Z,1761365203.463 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:06:43.551Z,1761365203.551 [DAT](INFO): DAT read: Rx Time:04:06:42.7113 

2025-10-25T04:06:43.551Z,1761365203.551 [DAT](INFO): Rx dataTimestamp_ set to:1761365203.550744
2025-10-25T04:06:43.552Z,1761365203.552 [DAT](INFO): DAT read: Bearing  25.8, -11.9 (Local)

2025-10-25T04:06:43.553Z,1761365203.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.8, -11.9 (Local)

2025-10-25T04:06:43.555Z,1761365203.555 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed 0.3

2025-10-25T04:06:43.565Z,1761365203.565 [DAT](INFO): DAT read: 04:06:42.7113 LVL= 24032, 32097, 22370, 31347, AGC= 46, IDX= 511, 0.15, 1.040,-0.886, 0.055, 0.545, PHS= 0.583,-1.384,-0.493, RAW= 116.9,  15.0, CAL= 124.2,  11.9, ROT=  25.8, -11.9

2025-10-25T04:06:43.566Z,1761365203.566 [DAT](INFO): got valid direction response:
 04:06:42.7113 LVL= 24032, 32097, 22370, 31347, AGC= 46, IDX= 511, 0.15, 1.040,-0.886, 0.055, 0.545, PHS= 0.583,-1.384,-0.493, RAW= 116.9,  15.0, CAL= 124.2,  11.9, ROT=  25.8, -11.9

2025-10-25T04:06:43.566Z,1761365203.566 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-10-25T04:06:43.567Z,1761365203.567 [DAT](INFO): direction in FSK: [0.880970,0.425878,0.206204]
2025-10-25T04:06:43.567Z,1761365203.567 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:43.587Z,1761365203.587 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.564159
2025-10-25T04:06:43.619Z,1761365203.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758926,0.649552,-0.045968],[-0.650705,0.753796,-0.091510],[-0.024790,0.099361,0.994743]]
2025-10-25T04:06:43.679Z,1761365203.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.503536 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:43.685Z,1761365203.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.776931 m,
      bearing: 343.843032 deg,
      lat: 36.779464 deg,
      lon: -121.859728 deg,
      deltaT: 10.081732 s,
      deltaX: -4.975903 m,
      approachRate: -0.493556 m/s,
      posRepo size: 4

2025-10-25T04:06:43.686Z,1761365203.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.75 m.
2025-10-25T04:06:43.706Z,1761365203.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.726751 m,
      bearing: 338.999027 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 324.501850 deg,
      new cmd heading: 324.081693 deg.

2025-10-25T04:06:43.706Z,1761365203.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656292 target range: 9.752833 and range: 4.80 m.
2025-10-25T04:06:43.802Z,1761365203.802 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778726
2025-10-25T04:06:44.054Z,1761365204.054 [DAT](INFO): DAT read: Rx Time:04:06:43.2111 

2025-10-25T04:06:44.055Z,1761365204.055 [DAT](INFO): Rx dataTimestamp_ set to:1761365204.054471
2025-10-25T04:06:44.056Z,1761365204.056 [DAT](INFO): DAT read: Bearing  26.5, -12.5 (Local)

2025-10-25T04:06:44.057Z,1761365204.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.5, -12.5 (Local)

2025-10-25T04:06:44.059Z,1761365204.059 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed 0.3

2025-10-25T04:06:44.065Z,1761365204.065 [DAT](INFO): DAT read: 04:06:43.2111 LVL= 24176, 31313, 22914, 31347, AGC= 47, IDX= 509, 0.01,-0.704,-2.673,-1.731,-1.201, PHS= 0.585,-1.424,-0.533, RAW= 116.3,  15.5, CAL= 123.5,  12.5, ROT=  26.5, -12.5

2025-10-25T04:06:44.066Z,1761365204.066 [DAT](INFO): got valid direction response:
 04:06:43.2111 LVL= 24176, 31313, 22914, 31347, AGC= 47, IDX= 509, 0.01,-0.704,-2.673,-1.731,-1.201, PHS= 0.585,-1.424,-0.533, RAW= 116.3,  15.5, CAL= 123.5,  12.5, ROT=  26.5, -12.5

2025-10-25T04:06:44.066Z,1761365204.066 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-10-25T04:06:44.067Z,1761365204.067 [DAT](INFO): direction in FSK: [0.873721,0.435621,0.216440]
2025-10-25T04:06:44.067Z,1761365204.067 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:44.071Z,1761365204.071 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047654
2025-10-25T04:06:44.076Z,1761365204.076 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.02,  77.93,  84.40,  79.64
2025-10-25T04:06:44.118Z,1761365204.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503727 s,
      deltaX: -0.300000 m,
      approachRate: -0.595561 m/s,
      rangeRepo size: 4

2025-10-25T04:06:44.120Z,1761365204.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.478372 m,
      bearing: 344.479092 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 10.585459 s,
      deltaX: -5.274461 m,
      approachRate: -0.498274 m/s,
      posRepo size: 4

2025-10-25T04:06:44.125Z,1761365204.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.75 m.
2025-10-25T04:06:44.133Z,1761365204.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.560843 m,
      bearing: 339.212233 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 324.081684 deg,
      new cmd heading: 323.545224 deg.

2025-10-25T04:06:44.134Z,1761365204.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646929 target range: 9.752833 and range: 4.50 m.
2025-10-25T04:06:44.307Z,1761365204.307 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283583
2025-10-25T04:06:44.420Z,1761365204.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768963,0.636606,-0.058555],[-0.638919,0.762144,-0.104494],[-0.021894,0.117764,0.992800]]
2025-10-25T04:06:44.467Z,1761365204.467 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:06:44.507Z,1761365204.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:44.514Z,1761365204.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:44.521Z,1761365204.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.406544 m,
      bearing: 339.396013 deg,
      approach rate: -0.384940 m/s,
      LOS rate: 0.474545 deg/s,
      cmd heading: 323.545214 deg,
      new cmd heading: 324.115841 deg.

2025-10-25T04:06:44.525Z,1761365204.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656888 target range: 9.752833 and range: 4.50 m.
2025-10-25T04:06:44.559Z,1761365204.559 [DAT](INFO): DAT read: Rx Time:04:06:43.7111 

2025-10-25T04:06:44.560Z,1761365204.560 [DAT](INFO): Rx dataTimestamp_ set to:1761365204.559587
2025-10-25T04:06:44.563Z,1761365204.563 [DAT](INFO): DAT read: Bearing  26.5, -13.3 (Local)

2025-10-25T04:06:44.563Z,1761365204.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.5, -13.3 (Local)

2025-10-25T04:06:44.570Z,1761365204.570 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed 0.3

2025-10-25T04:06:44.584Z,1761365204.584 [DAT](INFO): DAT read: 04:06:43.7111 LVL= 24608, 29473, 21106, 29667, AGC= 47, IDX= 509,-0.12,-0.694,-2.706,-1.739,-1.179, PHS= 0.573,-1.479,-0.563, RAW= 116.5,  16.3, CAL= 123.5,  13.3, ROT=  26.5, -13.3

2025-10-25T04:06:44.590Z,1761365204.590 [DAT](INFO): got valid direction response:
 04:06:43.7111 LVL= 24608, 29473, 21106, 29667, AGC= 47, IDX= 509,-0.12,-0.694,-2.706,-1.739,-1.179, PHS= 0.573,-1.479,-0.563, RAW= 116.5,  16.3, CAL= 123.5,  13.3, ROT=  26.5, -13.3

2025-10-25T04:06:44.590Z,1761365204.590 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-10-25T04:06:44.591Z,1761365204.591 [DAT](INFO): direction in FSK: [0.870931,0.434230,0.230050]
2025-10-25T04:06:44.591Z,1761365204.591 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:44.600Z,1761365204.600 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.576919
2025-10-25T04:06:44.810Z,1761365204.810 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786367
2025-10-25T04:06:44.817Z,1761365204.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774745,0.628888,-0.065354],[-0.631978,0.767066,-0.110516],[-0.019372,0.126924,0.991723]]
2025-10-25T04:06:44.867Z,1761365204.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.505116 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:44.874Z,1761365204.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.478475 m,
      bearing: 345.412964 deg,
      lat: 36.779464 deg,
      lon: -121.859727 deg,
      deltaT: 11.090575 s,
      deltaX: -5.274359 m,
      approachRate: -0.475571 m/s,
      posRepo size: 4

2025-10-25T04:06:44.875Z,1761365204.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.75 m.
2025-10-25T04:06:44.881Z,1761365204.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.281938 m,
      bearing: 339.539956 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 324.115835 deg,
      new cmd heading: 323.685303 deg.

2025-10-25T04:06:44.882Z,1761365204.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649374 target range: 9.752833 and range: 4.50 m.
2025-10-25T04:06:45.063Z,1761365205.063 [DAT](INFO): DAT read: Rx Time:04:06:44.2109 

2025-10-25T04:06:45.064Z,1761365205.064 [DAT](INFO): Rx dataTimestamp_ set to:1761365205.063234
2025-10-25T04:06:45.065Z,1761365205.065 [DAT](INFO): DAT read: Bearing  27.0, -14.3 (Local)

2025-10-25T04:06:45.065Z,1761365205.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.0, -14.3 (Local)

2025-10-25T04:06:45.067Z,1761365205.067 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed 0.3

2025-10-25T04:06:45.072Z,1761365205.072 [DAT](INFO): DAT read: 04:06:44.2109 LVL= 24896, 30705, 21490, 30803, AGC= 47, IDX= 507,-0.28,-1.626, 2.639,-2.683,-2.085, PHS= 0.548,-1.512,-0.601, RAW= 116.2,  17.2, CAL= 123.0,  14.3, ROT=  27.0, -14.3

2025-10-25T04:06:45.073Z,1761365205.073 [DAT](INFO): got valid direction response:
 04:06:44.2109 LVL= 24896, 30705, 21490, 30803, AGC= 47, IDX= 507,-0.28,-1.626, 2.639,-2.683,-2.085, PHS= 0.548,-1.512,-0.601, RAW= 116.2,  17.2, CAL= 123.0,  14.3, ROT=  27.0, -14.3

2025-10-25T04:06:45.074Z,1761365205.074 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-10-25T04:06:45.074Z,1761365205.074 [DAT](INFO): direction in FSK: [0.863399,0.439924,0.246999]
2025-10-25T04:06:45.075Z,1761365205.075 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:45.083Z,1761365205.083 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.059459
2025-10-25T04:06:45.221Z,1761365205.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780761,0.620747,-0.071309],[-0.624614,0.772395,-0.115168],[-0.016411,0.134459,0.990783]]
2025-10-25T04:06:45.314Z,1761365205.314 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290482
2025-10-25T04:06:45.346Z,1761365205.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.503647 s,
      deltaX: -0.300000 m,
      approachRate: -0.595656 m/s,
      rangeRepo size: 4

2025-10-25T04:06:45.348Z,1761365205.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.179909 m,
      bearing: 346.222315 deg,
      lat: 36.779464 deg,
      lon: -121.859726 deg,
      deltaT: 11.594222 s,
      deltaX: -5.572924 m,
      approachRate: -0.480664 m/s,
      posRepo size: 4

2025-10-25T04:06:45.354Z,1761365205.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.75 m.
2025-10-25T04:06:45.356Z,1761365205.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 4.086979 m,
      bearing: 339.958919 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 323.685315 deg,
      new cmd heading: 323.108405 deg.

2025-10-25T04:06:45.357Z,1761365205.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639306 target range: 9.752833 and range: 4.20 m.
2025-10-25T04:06:45.567Z,1761365205.567 [DAT](INFO): DAT read: Rx Time:04:06:44.7108 

2025-10-25T04:06:45.568Z,1761365205.568 [DAT](INFO): Rx dataTimestamp_ set to:1761365205.567454
2025-10-25T04:06:45.570Z,1761365205.570 [DAT](INFO): DAT read: Bearing  28.0, -15.5 (Local)

2025-10-25T04:06:45.570Z,1761365205.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing  28.0, -15.5 (Local)

2025-10-25T04:06:45.573Z,1761365205.573 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed 0.3

2025-10-25T04:06:45.579Z,1761365205.579 [DAT](INFO): DAT read: 04:06:44.7108 LVL= 24800, 30849, 22418, 30947, AGC= 46, IDX= 505, 0.45,-0.251,-2.254,-1.327,-0.683, PHS= 0.520,-1.524,-0.647, RAW= 115.3,  18.2, CAL= 122.0,  15.5, ROT=  28.0, -15.5

2025-10-25T04:06:45.580Z,1761365205.580 [DAT](INFO): got valid direction response:
 04:06:44.7108 LVL= 24800, 30849, 22418, 30947, AGC= 46, IDX= 505, 0.45,-0.251,-2.254,-1.327,-0.683, PHS= 0.520,-1.524,-0.647, RAW= 115.3,  18.2, CAL= 122.0,  15.5, ROT=  28.0, -15.5

2025-10-25T04:06:45.580Z,1761365205.580 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-10-25T04:06:45.581Z,1761365205.581 [DAT](INFO): direction in FSK: [0.850835,0.452397,0.267238]
2025-10-25T04:06:45.582Z,1761365205.582 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:45.585Z,1761365205.585 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.561977
2025-10-25T04:06:45.642Z,1761365205.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786822,0.612417,-0.076529],[-0.617022,0.777737,-0.120038],[-0.013994,0.141669,0.989815]]
2025-10-25T04:06:45.703Z,1761365205.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.504220 s,
      deltaX: -0.100000 m,
      approachRate: -0.198326 m/s,
      rangeRepo size: 4

2025-10-25T04:06:45.711Z,1761365205.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.080479 m,
      bearing: 347.505066 deg,
      lat: 36.779464 deg,
      lon: -121.859726 deg,
      deltaT: 12.098442 s,
      deltaX: -5.672355 m,
      approachRate: -0.468850 m/s,
      posRepo size: 4

2025-10-25T04:06:45.712Z,1761365205.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.75 m.
2025-10-25T04:06:45.723Z,1761365205.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 3.949885 m,
      bearing: 340.258530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 323.108410 deg,
      new cmd heading: 322.678970 deg.

2025-10-25T04:06:45.724Z,1761365205.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631811 target range: 9.752833 and range: 4.10 m.
2025-10-25T04:06:45.818Z,1761365205.818 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795244
2025-10-25T04:06:46.052Z,1761365206.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792282,0.604912,-0.079816],[-0.610049,0.782895,-0.122129],[-0.011389,0.145452,0.989300]]
2025-10-25T04:06:46.070Z,1761365206.070 [DAT](INFO): DAT read: Rx Time:04:06:45.2106 

2025-10-25T04:06:46.071Z,1761365206.071 [DAT](INFO): Rx dataTimestamp_ set to:1761365206.070383
2025-10-25T04:06:46.072Z,1761365206.072 [DAT](INFO): DAT read: Bearing  29.0, -16.8 (Local)

2025-10-25T04:06:46.072Z,1761365206.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.0, -16.8 (Local)

2025-10-25T04:06:46.074Z,1761365206.074 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed 0.3

2025-10-25T04:06:46.080Z,1761365206.080 [DAT](INFO): DAT read: 04:06:45.2106 LVL= 21680, 24897, 18418, 29107, AGC= 45, IDX= 503, 0.27,-1.371, 2.903,-2.475,-1.778, PHS= 0.494,-1.555,-0.700, RAW= 114.5,  19.3, CAL= 121.0,  16.8, ROT=  29.0, -16.8

2025-10-25T04:06:46.081Z,1761365206.081 [DAT](INFO): got valid direction response:
 04:06:45.2106 LVL= 21680, 24897, 18418, 29107, AGC= 45, IDX= 503, 0.27,-1.371, 2.903,-2.475,-1.778, PHS= 0.494,-1.555,-0.700, RAW= 114.5,  19.3, CAL= 121.0,  16.8, ROT=  29.0, -16.8

2025-10-25T04:06:46.081Z,1761365206.081 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-10-25T04:06:46.082Z,1761365206.082 [DAT](INFO): direction in FSK: [0.837291,0.464118,0.289032]
2025-10-25T04:06:46.083Z,1761365206.083 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:46.090Z,1761365206.090 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067261
2025-10-25T04:06:46.193Z,1761365206.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.502929 s,
      deltaX: -0.300000 m,
      approachRate: -0.596506 m/s,
      rangeRepo size: 4

2025-10-25T04:06:46.196Z,1761365206.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781907 m,
      bearing: 348.778544 deg,
      lat: 36.779464 deg,
      lon: -121.859726 deg,
      deltaT: 12.601371 s,
      deltaX: -5.970926 m,
      approachRate: -0.473831 m/s,
      posRepo size: 4

2025-10-25T04:06:46.229Z,1761365206.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.75 m.
2025-10-25T04:06:46.232Z,1761365206.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 3.722840 m,
      bearing: 341.067011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 322.678982 deg,
      new cmd heading: 322.070411 deg.

2025-10-25T04:06:46.242Z,1761365206.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621189 target range: 9.752833 and range: 3.80 m.
2025-10-25T04:06:46.326Z,1761365206.326 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302890
2025-10-25T04:06:46.526Z,1761365206.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797351,0.598028,-0.081203],[-0.603446,0.787950,-0.122424],[-0.009229,0.146616,0.989150]]
2025-10-25T04:06:46.546Z,1761365206.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:46.548Z,1761365206.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:46.551Z,1761365206.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 3.557809 m,
      bearing: 341.697788 deg,
      approach rate: -0.464019 m/s,
      LOS rate: 1.855784 deg/s,
      cmd heading: 322.070412 deg,
      new cmd heading: 324.049692 deg.

2025-10-25T04:06:46.552Z,1761365206.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655734 target range: 9.752833 and range: 3.80 m.
2025-10-25T04:06:46.574Z,1761365206.574 [DAT](INFO): DAT read: Rx Time:04:06:45.7106 

2025-10-25T04:06:46.575Z,1761365206.575 [DAT](INFO): Rx dataTimestamp_ set to:1761365206.574444
2025-10-25T04:06:46.576Z,1761365206.576 [DAT](INFO): DAT read: Bearing  31.0, -19.5 (Local)

2025-10-25T04:06:46.576Z,1761365206.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.0, -19.5 (Local)

2025-10-25T04:06:46.579Z,1761365206.579 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed 0.3

2025-10-25T04:06:46.584Z,1761365206.584 [DAT](INFO): DAT read: 04:06:45.7106 LVL= 21696, 27729, 19938, 29331, AGC= 44, IDX= 503, 0.13,-0.968,-2.923,-2.093,-1.308, PHS= 0.428,-1.568,-0.788, RAW= 112.8,  21.4, CAL= 119.0,  19.5, ROT=  31.0, -19.5

2025-10-25T04:06:46.586Z,1761365206.586 [DAT](INFO): got valid direction response:
 04:06:45.7106 LVL= 21696, 27729, 19938, 29331, AGC= 44, IDX= 503, 0.13,-0.968,-2.923,-2.093,-1.308, PHS= 0.428,-1.568,-0.788, RAW= 112.8,  21.4, CAL= 119.0,  19.5, ROT=  31.0, -19.5

2025-10-25T04:06:46.586Z,1761365206.586 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-10-25T04:06:46.587Z,1761365206.587 [DAT](INFO): direction in FSK: [0.808001,0.485496,0.333807]
2025-10-25T04:06:46.587Z,1761365206.587 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:46.599Z,1761365206.599 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575667
2025-10-25T04:06:46.827Z,1761365206.827 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803222
2025-10-25T04:06:46.923Z,1761365206.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800788,0.593260,-0.082354],[-0.598912,0.791614,-0.121048],[-0.006620,0.146257,0.989224]]
2025-10-25T04:06:47.079Z,1761365207.079 [DAT](INFO): DAT read: Rx Time:04:06:46.2104 

2025-10-25T04:06:47.080Z,1761365207.080 [DAT](INFO): Rx dataTimestamp_ set to:1761365207.079558
2025-10-25T04:06:47.081Z,1761365207.081 [DAT](INFO): DAT read: Bearing  34.3, -29.6 (Local)

2025-10-25T04:06:47.082Z,1761365207.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing  34.3, -29.6 (Local)

2025-10-25T04:06:47.084Z,1761365207.084 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-25T04:06:47.089Z,1761365207.089 [DAT](INFO): DAT read: 04:06:46.2104 LVL= 20320, 22977, 18082, 29683, AGC= 45, IDX= 501,-0.03,-3.004, 1.398, 2.078, 3.015, PHS= 0.352,-1.571,-0.940, RAW= 108.8,  24.2, CAL= 115.7,  29.6, ROT=  34.3, -29.6

2025-10-25T04:06:47.090Z,1761365207.090 [DAT](INFO): got valid direction response:
 04:06:46.2104 LVL= 20320, 22977, 18082, 29683, AGC= 45, IDX= 501,-0.03,-3.004, 1.398, 2.078, 3.015, PHS= 0.352,-1.571,-0.940, RAW= 108.8,  24.2, CAL= 115.7,  29.6, ROT=  34.3, -29.6

2025-10-25T04:06:47.090Z,1761365207.090 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-10-25T04:06:47.091Z,1761365207.091 [DAT](INFO): direction in FSK: [0.718288,0.489983,0.493942]
2025-10-25T04:06:47.091Z,1761365207.091 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:47.098Z,1761365207.098 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.074372
2025-10-25T04:06:47.112Z,1761365207.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 1.009175 s,
      deltaX: -0.300000 m,
      approachRate: -0.297272 m/s,
      rangeRepo size: 4

2025-10-25T04:06:47.119Z,1761365207.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.781926 m,
      bearing: 351.230631 deg,
      lat: 36.779464 deg,
      lon: -121.859726 deg,
      deltaT: 13.105432 s,
      deltaX: -5.970907 m,
      approachRate: -0.455606 m/s,
      posRepo size: 4

2025-10-25T04:06:47.120Z,1761365207.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.75 m.
2025-10-25T04:06:47.126Z,1761365207.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 3.353579 m,
      bearing: 342.546157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 324.049692 deg,
      new cmd heading: 323.365339 deg.

2025-10-25T04:06:47.133Z,1761365207.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643790 target range: 9.752833 and range: 3.50 m.
2025-10-25T04:06:47.330Z,1761365207.330 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307142
2025-10-25T04:06:47.503Z,1761365207.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803777,0.589225,-0.082197],[-0.594913,0.794982,-0.118669],[-0.004578,0.144284,0.989526]]
2025-10-25T04:06:47.564Z,1761365207.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m.
2025-10-25T04:06:47.567Z,1761365207.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 3.089016 m,
      bearing: 344.326232 deg,
      approach rate: -0.582434 m/s,
      LOS rate: 4.253780 deg/s,
      cmd heading: 323.365334 deg,
      new cmd heading: 329.142338 deg.

2025-10-25T04:06:47.568Z,1761365207.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744617 target range: 9.752833 and range: 3.50 m.
2025-10-25T04:06:47.582Z,1761365207.582 [DAT](INFO): DAT read: Rx Time:04:06:46.7104 

2025-10-25T04:06:47.583Z,1761365207.583 [DAT](INFO): Rx dataTimestamp_ set to:1761365207.582447
2025-10-25T04:06:47.584Z,1761365207.584 [DAT](INFO): DAT read: Bearing  46.5, -38.3 (Local)

2025-10-25T04:06:47.585Z,1761365207.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.5, -38.3 (Local)

2025-10-25T04:06:47.587Z,1761365207.587 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-10-25T04:06:47.592Z,1761365207.592 [DAT](INFO): DAT read: 04:06:46.7104 LVL= 20176, 19809, 18674, 28531, AGC= 46, IDX= 501,-0.30,-1.468,-3.068,-2.705,-1.601, PHS= 0.221,-1.420,-1.107, RAW= 100.4,  28.4, CAL= 103.5,  38.3, ROT=  46.5, -38.3

2025-10-25T04:06:47.593Z,1761365207.593 [DAT](INFO): got valid direction response:
 04:06:46.7104 LVL= 20176, 19809, 18674, 28531, AGC= 46, IDX= 501,-0.30,-1.468,-3.068,-2.705,-1.601, PHS= 0.221,-1.420,-1.107, RAW= 100.4,  28.4, CAL= 103.5,  38.3, ROT=  46.5, -38.3

2025-10-25T04:06:47.594Z,1761365207.594 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-10-25T04:06:47.595Z,1761365207.595 [DAT](INFO): direction in FSK: [0.540204,0.569257,0.619779]
2025-10-25T04:06:47.596Z,1761365207.596 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:47.601Z,1761365207.601 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577511
2025-10-25T04:06:47.833Z,1761365207.833 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810279
2025-10-25T04:06:47.839Z,1761365207.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805800,0.586724,-0.080255],[-0.592181,0.797704,-0.113973],[-0.002851,0.139365,0.990237]]
2025-10-25T04:06:47.885Z,1761365207.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.502889 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:47.887Z,1761365207.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.483359 m,
      bearing: 5.048124 deg,
      lat: 36.779463 deg,
      lon: -121.859725 deg,
      deltaT: 14.113435 s,
      deltaX: -6.269474 m,
      approachRate: -0.444220 m/s,
      posRepo size: 4

2025-10-25T04:06:47.888Z,1761365207.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.75 m.
2025-10-25T04:06:47.901Z,1761365207.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 2.946007 m,
      bearing: 345.422717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 329.142335 deg,
      new cmd heading: 328.756248 deg.

2025-10-25T04:06:47.909Z,1761365207.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737879 target range: 9.752833 and range: 3.50 m.
2025-10-25T04:06:48.086Z,1761365208.086 [DAT](INFO): DAT read: Rx Time:04:06:47.2102 

2025-10-25T04:06:48.087Z,1761365208.087 [DAT](INFO): Rx dataTimestamp_ set to:1761365208.086628
2025-10-25T04:06:48.088Z,1761365208.088 [DAT](INFO): DAT read: Bearing  57.1, -45.7 (Local)

2025-10-25T04:06:48.089Z,1761365208.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.1, -45.7 (Local)

2025-10-25T04:06:48.091Z,1761365208.091 [DAT](INFO): DAT read: Range 10 to 50 :     3.2 m (trip time 2.1 ms) speed 0.3

2025-10-25T04:06:48.097Z,1761365208.097 [DAT](INFO): DAT read: 04:06:47.2102 LVL= 19008, 22577, 19058, 29347, AGC= 47, IDX= 498, 0.19, 1.087,-0.060, 0.052, 1.240, PHS=-0.065,-1.253,-1.191, RAW=  92.6,  37.5, CAL=  92.9,  45.7, ROT=  57.1, -45.7

2025-10-25T04:06:48.098Z,1761365208.098 [DAT](INFO): got valid direction response:
 04:06:47.2102 LVL= 19008, 22577, 19058, 29347, AGC= 47, IDX= 498, 0.19, 1.087,-0.060, 0.052, 1.240, PHS=-0.065,-1.253,-1.191, RAW=  92.6,  37.5, CAL=  92.9,  45.7, ROT=  57.1, -45.7

2025-10-25T04:06:48.098Z,1761365208.098 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-10-25T04:06:48.099Z,1761365208.099 [DAT](INFO): direction in FSK: [0.379361,0.586403,0.715693]
2025-10-25T04:06:48.099Z,1761365208.099 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:48.117Z,1761365208.117 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.094284
2025-10-25T04:06:48.255Z,1761365208.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806274,0.586454,-0.077418],[-0.591541,0.799111,-0.107240],[-0.001025,0.132261,0.991214]]
2025-10-25T04:06:48.338Z,1761365208.338 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314510
2025-10-25T04:06:48.367Z,1761365208.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.504181 s,
      deltaX: -0.300000 m,
      approachRate: -0.595024 m/s,
      rangeRepo size: 4

2025-10-25T04:06:48.370Z,1761365208.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.184786 m,
      bearing: 15.733551 deg,
      lat: 36.779463 deg,
      lon: -121.859725 deg,
      deltaT: 14.617616 s,
      deltaX: -6.568048 m,
      approachRate: -0.449324 m/s,
      posRepo size: 4

2025-10-25T04:06:48.371Z,1761365208.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.75 m.
2025-10-25T04:06:48.386Z,1761365208.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 2.703136 m,
      bearing: 348.089078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 328.756239 deg,
      new cmd heading: 328.163485 deg.

2025-10-25T04:06:48.387Z,1761365208.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727533 target range: 9.752833 and range: 3.20 m.
2025-10-25T04:06:48.590Z,1761365208.590 [DAT](INFO): DAT read: Rx Time:04:06:47.7105 

2025-10-25T04:06:48.591Z,1761365208.591 [DAT](INFO): Rx dataTimestamp_ set to:1761365208.590426
2025-10-25T04:06:48.592Z,1761365208.592 [DAT](INFO): DAT read: Bearing 204.4, -67.3 (Local)

2025-10-25T04:06:48.593Z,1761365208.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4, -67.3 (Local)

2025-10-25T04:06:48.596Z,1761365208.596 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed 0.4

2025-10-25T04:06:48.605Z,1761365208.605 [DAT](INFO): DAT read: 04:06:47.7105 LVL= 10448, 15937,  7154, 13443, AGC= 42, IDX= 498,-0.03, 0.415, 1.108, 0.822, 2.074, PHS=-1.572,-0.919,-1.256, RAW= 301.0,  66.9, CAL= 305.6,  67.3, ROT= 204.4, -67.3

2025-10-25T04:06:48.606Z,1761365208.606 [DAT](INFO): got valid direction response:
 04:06:47.7105 LVL= 10448, 15937,  7154, 13443, AGC= 42, IDX= 498,-0.03, 0.415, 1.108, 0.822, 2.074, PHS=-1.572,-0.919,-1.256, RAW= 301.0,  66.9, CAL= 305.6,  67.3, ROT= 204.4, -67.3

2025-10-25T04:06:48.607Z,1761365208.607 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-10-25T04:06:48.607Z,1761365208.607 [DAT](INFO): direction in FSK: [-0.351438,-0.159419,0.922538]
2025-10-25T04:06:48.608Z,1761365208.608 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:48.616Z,1761365208.616 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.592553
2025-10-25T04:06:48.645Z,1761365208.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806543,0.586541,-0.073871],[-0.591175,0.800258,-0.100496],[0.000171,0.124725,0.992191]]
2025-10-25T04:06:48.712Z,1761365208.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.503798 s,
      deltaX: 0.400000 m,
      approachRate: 0.793969 m/s,
      rangeRepo size: 4

2025-10-25T04:06:48.718Z,1761365208.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.582869 m,
      bearing: 181.612014 deg,
      lat: 36.779461 deg,
      lon: -121.859725 deg,
      deltaT: 15.121414 s,
      deltaX: -6.169965 m,
      approachRate: -0.408028 m/s,
      posRepo size: 4

2025-10-25T04:06:48.719Z,1761365208.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-10-25T04:06:48.720Z,1761365208.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.75 m.
2025-10-25T04:06:48.726Z,1761365208.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.752833 m,
      nav range: 2.534834 m,
      bearing: 350.290356 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.406269 deg/s,
      cmd heading: 328.163487 deg,
      new cmd heading: 327.744647 deg.

2025-10-25T04:06:48.737Z,1761365208.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720223 target range: 9.752833 and range: 3.60 m.
2025-10-25T04:06:48.842Z,1761365208.842 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819164
2025-10-25T04:06:49.097Z,1761365209.097 [DAT](INFO): DAT read: Rx Time:04:06:48.2099 

2025-10-25T04:06:49.099Z,1761365209.099 [DAT](INFO): Rx dataTimestamp_ set to:1761365209.097944
2025-10-25T04:06:49.103Z,1761365209.103 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.3

2025-10-25T04:06:49.104Z,1761365209.104 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-10-25T04:06:49.105Z,1761365209.105 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.081702
2025-10-25T04:06:49.192Z,1761365209.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:49.196Z,1761365209.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.507518 s,
      deltaX: -0.900000 m,
      approachRate: -1.773336 m/s,
      rangeRepo size: 4

2025-10-25T04:06:49.197Z,1761365209.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-10-25T04:06:49.197Z,1761365209.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-10-25T04:06:49.197Z,1761365209.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-10-25T04:06:49.346Z,1761365209.346 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322493
2025-10-25T04:06:49.495Z,1761365209.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806806,0.586382,-0.072253],[-0.590796,0.801725,-0.090532],[0.004841,0.115728,0.993269]]
2025-10-25T04:06:49.600Z,1761365209.600 [DAT](INFO): DAT read: Rx Time:04:06:48.7100 

2025-10-25T04:06:49.601Z,1761365209.601 [DAT](INFO): Rx dataTimestamp_ set to:1761365209.599839
2025-10-25T04:06:49.603Z,1761365209.603 [DAT](INFO): DAT read: Bearing 261.5, -13.7 (Local)

2025-10-25T04:06:49.603Z,1761365209.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.5, -13.7 (Local)

2025-10-25T04:06:49.606Z,1761365209.606 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.3

2025-10-25T04:06:49.634Z,1761365209.634 [DAT](INFO): DAT read: 04:06:48.7100 LVL= 25680, 24113, 14738, 15779, AGC= 49, IDX= 512,-0.23, 2.315,-2.710,-1.360,-2.226, PHS=-1.654,-0.437, 0.863, RAW= 238.9,  11.3, CAL= 248.5,  13.7, ROT= 261.5, -13.7

2025-10-25T04:06:49.635Z,1761365209.635 [DAT](INFO): got valid direction response:
 04:06:48.7100 LVL= 25680, 24113, 14738, 15779, AGC= 49, IDX= 512,-0.23, 2.315,-2.710,-1.360,-2.226, PHS=-1.654,-0.437, 0.863, RAW= 238.9,  11.3, CAL= 248.5,  13.7, ROT= 261.5, -13.7

2025-10-25T04:06:49.635Z,1761365209.635 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-10-25T04:06:49.645Z,1761365209.645 [DAT](INFO): direction in FSK: [-0.143604,-0.960877,0.236838]
2025-10-25T04:06:49.645Z,1761365209.645 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:49.657Z,1761365209.657 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.633927
2025-10-25T04:06:49.850Z,1761365209.850 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826426
2025-10-25T04:06:49.914Z,1761365209.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.501895 s,
      deltaX: 0.200000 m,
      approachRate: 0.398490 m/s,
      rangeRepo size: 4

2025-10-25T04:06:49.917Z,1761365209.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.886201 m,
      bearing: 225.430582 deg,
      lat: 36.779457 deg,
      lon: -121.859725 deg,
      deltaT: 16.130827 s,
      deltaX: -6.866632 m,
      approachRate: -0.425684 m/s,
      posRepo size: 4

2025-10-25T04:06:50.104Z,1761365210.104 [DAT](INFO): DAT read: Rx Time:04:06:49.2096 

2025-10-25T04:06:50.104Z,1761365210.104 [DAT](INFO): Rx dataTimestamp_ set to:1761365210.103819
2025-10-25T04:06:50.106Z,1761365210.106 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.2

2025-10-25T04:06:50.106Z,1761365210.106 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-10-25T04:06:50.107Z,1761365210.107 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.083945
2025-10-25T04:06:50.260Z,1761365210.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808306,0.583837,-0.075997],[-0.588727,0.802902,-0.093533],[0.006410,0.120345,0.992711]]
2025-10-25T04:06:50.351Z,1761365210.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503980 s,
      deltaX: -0.600000 m,
      approachRate: -1.190524 m/s,
      rangeRepo size: 4

2025-10-25T04:06:50.354Z,1761365210.354 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330469
2025-10-25T04:06:50.607Z,1761365210.607 [DAT](INFO): DAT read: Rx Time:04:06:49.7096 

2025-10-25T04:06:50.608Z,1761365210.608 [DAT](INFO): Rx dataTimestamp_ set to:1761365210.606933
2025-10-25T04:06:50.610Z,1761365210.610 [DAT](INFO): DAT read: Bearing 170.4, -26.8 (Local)

2025-10-25T04:06:50.610Z,1761365210.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.4, -26.8 (Local)

2025-10-25T04:06:50.613Z,1761365210.613 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.2

2025-10-25T04:06:50.618Z,1761365210.618 [DAT](INFO): DAT read: 04:06:49.7096 LVL= 18896, 17089, 20210, 22163, AGC= 49, IDX= 510,-0.28, 0.812, 2.077, 0.656, 1.766, PHS=-0.866, 0.358,-1.113, RAW= 339.0,  22.8, CAL= 339.6,  26.8, ROT= 170.4, -26.8

2025-10-25T04:06:50.619Z,1761365210.619 [DAT](INFO): got valid direction response:
 04:06:49.7096 LVL= 18896, 17089, 20210, 22163, AGC= 49, IDX= 510,-0.28, 0.812, 2.077, 0.656, 1.766, PHS=-0.866, 0.358,-1.113, RAW= 339.0,  22.8, CAL= 339.6,  26.8, ROT= 170.4, -26.8

2025-10-25T04:06:50.620Z,1761365210.620 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-10-25T04:06:50.633Z,1761365210.633 [DAT](INFO): direction in FSK: [-0.880086,0.148855,0.450878]
2025-10-25T04:06:50.633Z,1761365210.633 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:50.637Z,1761365210.637 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613837
2025-10-25T04:06:50.692Z,1761365210.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813994,0.574461,-0.086074],[-0.580788,0.807433,-0.103620],[0.009973,0.134337,0.990886]]
2025-10-25T04:06:50.768Z,1761365210.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503114 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:50.774Z,1761365210.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.289051 m,
      bearing: 138.879876 deg,
      lat: 36.779436 deg,
      lon: -121.859722 deg,
      deltaT: 1.007094 s,
      deltaX: -0.597151 m,
      approachRate: -0.592944 m/s,
      posRepo size: 4

2025-10-25T04:06:50.858Z,1761365210.858 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834658
2025-10-25T04:06:51.113Z,1761365211.113 [DAT](INFO): DAT read: Rx Time:04:06:50.2096 

2025-10-25T04:06:51.115Z,1761365211.115 [DAT](INFO): Rx dataTimestamp_ set to:1761365211.114096
2025-10-25T04:06:51.119Z,1761365211.119 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.2

2025-10-25T04:06:51.121Z,1761365211.121 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-10-25T04:06:51.124Z,1761365211.124 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.100435
2025-10-25T04:06:51.202Z,1761365211.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:51.205Z,1761365211.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.507163 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:51.363Z,1761365211.363 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339630
2025-10-25T04:06:51.541Z,1761365211.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-10-25T04:06:51.614Z,1761365211.614 [DAT](INFO): DAT read: Rx Time:04:06:50.7104 

2025-10-25T04:06:51.615Z,1761365211.615 [DAT](INFO): Rx dataTimestamp_ set to:1761365211.614468
2025-10-25T04:06:51.617Z,1761365211.617 [DAT](INFO): DAT read: Bearing 102.6, -56.2 (Local)

2025-10-25T04:06:51.617Z,1761365211.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.6, -56.2 (Local)

2025-10-25T04:06:51.620Z,1761365211.620 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed 0.0

2025-10-25T04:06:51.627Z,1761365211.627 [DAT](INFO): DAT read: 04:06:50.7104 LVL= 18384, 12097, 18834, 31027, AGC= 55, IDX=   1, 0.24, 2.482, 2.104, 1.358,-2.996, PHS=-0.717,-1.137,-1.932, RAW=  49.9,  51.4, CAL=  47.4,  56.2, ROT= 102.6, -56.2

2025-10-25T04:06:51.635Z,1761365211.635 [DAT](INFO): got valid direction response:
 04:06:50.7104 LVL= 18384, 12097, 18834, 31027, AGC= 55, IDX=   1, 0.24, 2.482, 2.104, 1.358,-2.996, PHS=-0.717,-1.137,-1.932, RAW=  49.9,  51.4, CAL=  47.4,  56.2, ROT= 102.6, -56.2

2025-10-25T04:06:51.635Z,1761365211.635 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-10-25T04:06:51.636Z,1761365211.636 [DAT](INFO): direction in FSK: [-0.121352,0.542898,0.830984]
2025-10-25T04:06:51.637Z,1761365211.637 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:51.640Z,1761365211.640 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.616859
2025-10-25T04:06:51.866Z,1761365211.866 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842369
2025-10-25T04:06:51.880Z,1761365211.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823890,0.558407,-0.096885],[-0.566569,0.815819,-0.115923],[0.014308,0.150400,0.988522]]
2025-10-25T04:06:51.926Z,1761365211.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.500372 s,
      deltaX: 1.200000 m,
      approachRate: 2.398216 m/s,
      rangeRepo size: 4

2025-10-25T04:06:51.928Z,1761365211.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.483339 m,
      bearing: 73.545540 deg,
      lat: 36.779436 deg,
      lon: -121.859727 deg,
      deltaT: 1.007535 s,
      deltaX: 1.194288 m,
      approachRate: 1.185356 m/s,
      posRepo size: 4

2025-10-25T04:06:51.933Z,1761365211.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m.
2025-10-25T04:06:52.124Z,1761365212.124 [DAT](INFO): DAT read: Rx Time:04:06:51.2097 

2025-10-25T04:06:52.125Z,1761365212.125 [DAT](INFO): Rx dataTimestamp_ set to:1761365212.124534
2025-10-25T04:06:52.131Z,1761365212.131 [DAT](INFO): DAT read: Bearing 103.9, -57.8 (Local)

2025-10-25T04:06:52.132Z,1761365212.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.9, -57.8 (Local)

2025-10-25T04:06:52.139Z,1761365212.139 [DAT](INFO): DAT read: Range 10 to 50 :     2.4 m (trip time 1.6 ms) speed -0.4

2025-10-25T04:06:52.148Z,1761365212.148 [DAT](INFO): DAT read: 04:06:51.2097 LVL= 24560, 32753, 32754, 32755, AGC= 55, IDX= 492, 0.22,-0.666,-1.067,-1.943, 0.347, PHS=-0.925,-1.367,-2.293, RAW=  48.5,  53.3, CAL=  46.1,  57.8, ROT= 103.9, -57.8

2025-10-25T04:06:52.153Z,1761365212.153 [DAT](INFO): got valid direction response:
 04:06:51.2097 LVL= 24560, 32753, 32754, 32755, AGC= 55, IDX= 492, 0.22,-0.666,-1.067,-1.943, 0.347, PHS=-0.925,-1.367,-2.293, RAW=  48.5,  53.3, CAL=  46.1,  57.8, ROT= 103.9, -57.8

2025-10-25T04:06:52.154Z,1761365212.154 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-10-25T04:06:52.155Z,1761365212.155 [DAT](INFO): direction in FSK: [-0.128012,0.517272,0.846193]
2025-10-25T04:06:52.155Z,1761365212.155 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:52.163Z,1761365212.163 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.139802
2025-10-25T04:06:52.279Z,1761365212.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827241,0.553156,-0.098442],[-0.561635,0.818958,-0.117789],[0.015464,0.152728,0.988147]]
2025-10-25T04:06:52.370Z,1761365212.370 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.346407
2025-10-25T04:06:52.391Z,1761365212.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.510066 s,
      deltaX: -1.100000 m,
      approachRate: -2.156584 m/s,
      rangeRepo size: 4

2025-10-25T04:06:52.421Z,1761365212.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.388575 m,
      bearing: 76.240201 deg,
      lat: 36.779436 deg,
      lon: -121.859727 deg,
      deltaT: 0.510066 s,
      deltaX: -1.094764 m,
      approachRate: -2.146317 m/s,
      posRepo size: 4

2025-10-25T04:06:52.622Z,1761365212.622 [DAT](INFO): DAT read: Rx Time:04:06:51.7100 

2025-10-25T04:06:52.622Z,1761365212.622 [DAT](INFO): Rx dataTimestamp_ set to:1761365212.622144
2025-10-25T04:06:52.624Z,1761365212.624 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-25T04:06:52.624Z,1761365212.624 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-10-25T04:06:52.625Z,1761365212.625 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.602081
2025-10-25T04:06:52.719Z,1761365212.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.497610 s,
      deltaX: 0.500000 m,
      approachRate: 1.004803 m/s,
      rangeRepo size: 4

2025-10-25T04:06:52.874Z,1761365212.874 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.850335
2025-10-25T04:06:53.098Z,1761365213.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834113,0.542539,-0.099531],[-0.551326,0.825634,-0.119864],[0.017145,0.154854,0.987789]]
2025-10-25T04:06:53.137Z,1761365213.137 [DAT](INFO): DAT read: Rx Time:04:06:52.2100 

2025-10-25T04:06:53.138Z,1761365213.138 [DAT](INFO): Rx dataTimestamp_ set to:1761365213.137700
2025-10-25T04:06:53.145Z,1761365213.145 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed -0.4

2025-10-25T04:06:53.147Z,1761365213.147 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-10-25T04:06:53.155Z,1761365213.155 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.130938
2025-10-25T04:06:53.189Z,1761365213.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.515556 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:53.386Z,1761365213.386 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.362364
2025-10-25T04:06:53.547Z,1761365213.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:53.638Z,1761365213.638 [DAT](INFO): DAT read: Rx Time:04:06:52.7099 

2025-10-25T04:06:53.639Z,1761365213.639 [DAT](INFO): Rx dataTimestamp_ set to:1761365213.638984
2025-10-25T04:06:53.641Z,1761365213.641 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed -0.4

2025-10-25T04:06:53.642Z,1761365213.642 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-10-25T04:06:53.645Z,1761365213.645 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.620979
2025-10-25T04:06:53.890Z,1761365213.890 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866421
2025-10-25T04:06:53.896Z,1761365213.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839994,0.533920,-0.096638],[-0.542286,0.832110,-0.116272],[0.018333,0.150073,0.988505]]
2025-10-25T04:06:53.920Z,1761365213.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.501284 s,
      deltaX: -0.200000 m,
      approachRate: -0.398976 m/s,
      rangeRepo size: 4

2025-10-25T04:06:54.145Z,1761365214.145 [DAT](INFO): DAT read: Rx Time:04:06:53.2104 

2025-10-25T04:06:54.147Z,1761365214.147 [DAT](INFO): Rx dataTimestamp_ set to:1761365214.146101
2025-10-25T04:06:54.151Z,1761365214.151 [DAT](INFO): DAT read: Range 10 to 50 :     3.5 m (trip time 2.3 ms) speed -0.4

2025-10-25T04:06:54.154Z,1761365214.154 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-25T04:06:54.164Z,1761365214.164 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.133225
2025-10-25T04:06:54.351Z,1761365214.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842555,0.530279,-0.094371],[-0.538284,0.835122,-0.113236],[0.018764,0.146206,0.989076]]
2025-10-25T04:06:54.395Z,1761365214.395 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.371195
2025-10-25T04:06:54.484Z,1761365214.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.507117 s,
      deltaX: 0.800000 m,
      approachRate: 1.577545 m/s,
      rangeRepo size: 4

2025-10-25T04:06:54.647Z,1761365214.647 [DAT](INFO): DAT read: Rx Time:04:06:53.7103 

2025-10-25T04:06:54.648Z,1761365214.648 [DAT](INFO): Rx dataTimestamp_ set to:1761365214.647509
2025-10-25T04:06:54.650Z,1761365214.650 [DAT](INFO): DAT read: Bearing 128.3, -15.6 (Local)

2025-10-25T04:06:54.650Z,1761365214.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.3, -15.6 (Local)

2025-10-25T04:06:54.652Z,1761365214.652 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-10-25T04:06:54.664Z,1761365214.664 [DAT](INFO): DAT read: 04:06:53.7103 LVL= 27920, 25137, 29266, 30371, AGC= 45, IDX= 499, 0.07,-2.697,-2.348, 1.643,-2.817, PHS= 0.209, 0.516,-1.826, RAW=  23.1,  10.0, CAL=  21.7,  15.6, ROT= 128.3, -15.6

2025-10-25T04:06:54.665Z,1761365214.665 [DAT](INFO): got valid direction response:
 04:06:53.7103 LVL= 27920, 25137, 29266, 30371, AGC= 45, IDX= 499, 0.07,-2.697,-2.348, 1.643,-2.817, PHS= 0.209, 0.516,-1.826, RAW=  23.1,  10.0, CAL=  21.7,  15.6, ROT= 128.3, -15.6

2025-10-25T04:06:54.666Z,1761365214.666 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-10-25T04:06:54.667Z,1761365214.667 [DAT](INFO): direction in FSK: [-0.596948,0.755867,0.268920]
2025-10-25T04:06:54.667Z,1761365214.667 [DAT](INFO): publishing direction and range info
2025-10-25T04:06:54.671Z,1761365214.671 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.647599
2025-10-25T04:06:54.766Z,1761365214.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845295,0.526219,-0.092574],[-0.533962,0.838145,-0.111341],[0.019001,0.143547,0.989461]]
2025-10-25T04:06:54.856Z,1761365214.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.501408 s,
      deltaX: -0.200000 m,
      approachRate: -0.398877 m/s,
      rangeRepo size: 4

2025-10-25T04:06:54.866Z,1761365214.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.284316 m,
      bearing: 98.128791 deg,
      lat: 36.779458 deg,
      lon: -121.859727 deg,
      deltaT: 2.522975 s,
      deltaX: 0.895741 m,
      approachRate: 0.355034 m/s,
      posRepo size: 4

2025-10-25T04:06:54.867Z,1761365214.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.30 m.
2025-10-25T04:06:54.898Z,1761365214.898 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.874467
2025-10-25T04:06:55.153Z,1761365215.153 [DAT](INFO): DAT read: Rx Time:04:06:54.2103 

2025-10-25T04:06:55.155Z,1761365215.155 [DAT](INFO): Rx dataTimestamp_ set to:1761365215.153773
2025-10-25T04:06:55.159Z,1761365215.159 [DAT](INFO): DAT read: Range 10 to 50 :     3.3 m (trip time 2.2 ms) speed -0.4

2025-10-25T04:06:55.162Z,1761365215.162 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-25T04:06:55.170Z,1761365215.170 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.141186
2025-10-25T04:06:55.284Z,1761365215.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847550,0.523091,-0.089639],[-0.530397,0.840726,-0.108903],[0.018396,0.139845,0.990003]]
2025-10-25T04:06:55.374Z,1761365215.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.506264 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:55.374Z,1761365215.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m.
2025-10-25T04:06:55.414Z,1761365215.414 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.390613
2025-10-25T04:06:55.654Z,1761365215.654 [DAT](INFO): DAT read: Rx Time:04:06:54.7105 

2025-10-25T04:06:55.654Z,1761365215.654 [DAT](INFO): Rx dataTimestamp_ set to:1761365215.654059
2025-10-25T04:06:55.656Z,1761365215.656 [DAT](INFO): DAT read: Range 10 to 50 :     3.6 m (trip time 2.4 ms) speed -0.4

2025-10-25T04:06:55.656Z,1761365215.656 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-25T04:06:55.657Z,1761365215.657 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.633996
2025-10-25T04:06:55.659Z,1761365215.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850033,0.519489,-0.087035],[-0.526452,0.843271,-0.108361],[0.017101,0.137930,0.990294]]
2025-10-25T04:06:55.687Z,1761365215.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:55.690Z,1761365215.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.500286 s,
      deltaX: 0.300000 m,
      approachRate: 0.599657 m/s,
      rangeRepo size: 4

2025-10-25T04:06:55.906Z,1761365215.906 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.882398
2025-10-25T04:06:56.059Z,1761365216.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852150,0.516557,-0.083723],[-0.523071,0.845522,-0.107188],[0.015421,0.135133,0.990707]]
2025-10-25T04:06:56.162Z,1761365216.162 [DAT](INFO): DAT read: Rx Time:04:06:55.2106 

2025-10-25T04:06:56.165Z,1761365216.165 [DAT](INFO): Rx dataTimestamp_ set to:1761365216.163280
2025-10-25T04:06:56.169Z,1761365216.169 [DAT](INFO): DAT read: Range 10 to 50 :     3.8 m (trip time 2.5 ms) speed -0.3

2025-10-25T04:06:56.172Z,1761365216.172 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-25T04:06:56.187Z,1761365216.187 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.163263
2025-10-25T04:06:56.410Z,1761365216.410 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.386372
2025-10-25T04:06:56.532Z,1761365216.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.509221 s,
      deltaX: 0.200000 m,
      approachRate: 0.392757 m/s,
      rangeRepo size: 4

2025-10-25T04:06:56.662Z,1761365216.662 [DAT](INFO): DAT read: Rx Time:04:06:55.7108 

2025-10-25T04:06:56.662Z,1761365216.662 [DAT](INFO): Rx dataTimestamp_ set to:1761365216.662200
2025-10-25T04:06:56.664Z,1761365216.664 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed -0.4

2025-10-25T04:06:56.664Z,1761365216.664 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-25T04:06:56.665Z,1761365216.665 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.642191
2025-10-25T04:06:56.865Z,1761365216.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856196,0.511195,-0.074894],[-0.516536,0.850032,-0.103130],[0.010943,0.126985,0.991844]]
2025-10-25T04:06:56.904Z,1761365216.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.498920 s,
      deltaX: 0.300000 m,
      approachRate: 0.601299 m/s,
      rangeRepo size: 4

2025-10-25T04:06:56.914Z,1761365216.914 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890526
2025-10-25T04:06:57.170Z,1761365217.170 [DAT](INFO): DAT read: Rx Time:04:06:56.2108 

2025-10-25T04:06:57.172Z,1761365217.172 [DAT](INFO): Rx dataTimestamp_ set to:1761365217.170523
2025-10-25T04:06:57.176Z,1761365217.176 [DAT](INFO): DAT read: Range 10 to 50 :     4.1 m (trip time 2.7 ms) speed -0.3

2025-10-25T04:06:57.179Z,1761365217.179 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-25T04:06:57.182Z,1761365217.182 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.158194
2025-10-25T04:06:57.268Z,1761365217.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858012,0.508826,-0.070080],[-0.513561,0.852096,-0.100929],[0.008360,0.122588,0.992422]]
2025-10-25T04:06:57.354Z,1761365217.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.508323 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:57.418Z,1761365217.418 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.394695
2025-10-25T04:06:57.670Z,1761365217.670 [DAT](INFO): DAT read: Rx Time:04:06:56.7109 

2025-10-25T04:06:57.670Z,1761365217.670 [DAT](INFO): Rx dataTimestamp_ set to:1761365217.669998
2025-10-25T04:06:57.671Z,1761365217.671 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed -0.3

2025-10-25T04:06:57.672Z,1761365217.672 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-10-25T04:06:57.673Z,1761365217.673 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.649940
2025-10-25T04:06:57.683Z,1761365217.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859766,0.506499,-0.065274],[-0.510659,0.854016,-0.099416],[0.005392,0.118807,0.992903]]
2025-10-25T04:06:57.703Z,1761365217.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:57.706Z,1761365217.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.499475 s,
      deltaX: 0.100000 m,
      approachRate: 0.200210 m/s,
      rangeRepo size: 4

2025-10-25T04:06:57.922Z,1761365217.922 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.898376
2025-10-25T04:06:58.091Z,1761365218.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861082,0.504747,-0.061391],[-0.508459,0.855447,-0.098389],[0.002855,0.115936,0.993253]]
2025-10-25T04:06:58.178Z,1761365218.178 [DAT](INFO): DAT read: Rx Time:04:06:57.2109 

2025-10-25T04:06:58.180Z,1761365218.180 [DAT](INFO): Rx dataTimestamp_ set to:1761365218.179232
2025-10-25T04:06:58.186Z,1761365218.186 [DAT](INFO): DAT read: Range 10 to 50 :     4.2 m (trip time 2.8 ms) speed -0.3

2025-10-25T04:06:58.188Z,1761365218.188 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-25T04:06:58.196Z,1761365218.196 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.172499
2025-10-25T04:06:58.426Z,1761365218.426 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.402443
2025-10-25T04:06:58.559Z,1761365218.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.509234 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:58.680Z,1761365218.680 [DAT](INFO): DAT read: Rx Time:04:06:57.7111 

2025-10-25T04:06:58.680Z,1761365218.680 [DAT](INFO): Rx dataTimestamp_ set to:1761365218.679766
2025-10-25T04:06:58.681Z,1761365218.681 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed -0.3

2025-10-25T04:06:58.682Z,1761365218.682 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-25T04:06:58.683Z,1761365218.683 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.659735
2025-10-25T04:06:58.931Z,1761365218.931 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.907326
2025-10-25T04:06:58.981Z,1761365218.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.500534 s,
      deltaX: 0.300000 m,
      approachRate: 0.599360 m/s,
      rangeRepo size: 4

2025-10-25T04:06:58.982Z,1761365218.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2025-10-25T04:06:59.182Z,1761365219.182 [DAT](INFO): DAT read: Rx Time:04:06:58.2111 

2025-10-25T04:06:59.184Z,1761365219.184 [DAT](INFO): Rx dataTimestamp_ set to:1761365219.182694
2025-10-25T04:06:59.188Z,1761365219.188 [DAT](INFO): DAT read: Range 10 to 50 :     4.5 m (trip time 3.0 ms) speed -0.3

2025-10-25T04:06:59.191Z,1761365219.191 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-25T04:06:59.195Z,1761365219.195 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171152
2025-10-25T04:06:59.320Z,1761365219.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863459,0.502059,-0.048741],[-0.504382,0.858177,-0.095560],[-0.006148,0.107096,0.994230]]
2025-10-25T04:06:59.385Z,1761365219.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.502928 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:06:59.386Z,1761365219.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.50 m.
2025-10-25T04:06:59.436Z,1761365219.436 [DAT](INFO): DAT read: Rx Time:04:06:58.7113 

2025-10-25T04:06:59.438Z,1761365219.438 [DAT](INFO): Rx dataTimestamp_ set to:1761365219.436976
2025-10-25T04:06:59.439Z,1761365219.439 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.415833
2025-10-25T04:06:59.686Z,1761365219.686 [DAT](INFO): DAT read: Range 10 to 50 :     4.8 m (trip time 3.2 ms) speed -0.3

2025-10-25T04:06:59.687Z,1761365219.687 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-10-25T04:06:59.688Z,1761365219.688 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.664661
2025-10-25T04:06:59.708Z,1761365219.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863770,0.501965,-0.043956],[-0.503806,0.858781,-0.093137],[-0.009003,0.102594,0.994683]]
2025-10-25T04:06:59.756Z,1761365219.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:06:59.764Z,1761365219.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.502348 s,
      deltaX: 0.300000 m,
      approachRate: 0.597196 m/s,
      rangeRepo size: 4

2025-10-25T04:06:59.941Z,1761365219.941 [DAT](INFO): DAT read: Rx Time:04:06:59.2115 

2025-10-25T04:06:59.943Z,1761365219.943 [DAT](INFO): Rx dataTimestamp_ set to:1761365219.941874
2025-10-25T04:06:59.945Z,1761365219.945 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.921221
2025-10-25T04:07:00.195Z,1761365220.195 [DAT](INFO): DAT read: Range 10 to 50 :     5.1 m (trip time 3.4 ms) speed -0.3

2025-10-25T04:07:00.198Z,1761365220.198 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-25T04:07:00.201Z,1761365220.201 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.176876
2025-10-25T04:07:00.442Z,1761365220.442 [DAT](INFO): DAT read: Rx Time:04:06:59.7120 

2025-10-25T04:07:00.442Z,1761365220.442 [DAT](INFO): Rx dataTimestamp_ set to:1761365220.441787
2025-10-25T04:07:00.443Z,1761365220.443 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.419477
2025-10-25T04:07:00.556Z,1761365220.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862530,0.504742,-0.035737],[-0.505730,0.857573,-0.093840],[-0.016718,0.099014,0.994946]]
2025-10-25T04:07:00.653Z,1761365220.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.505882 s,
      deltaX: 0.300000 m,
      approachRate: 0.593023 m/s,
      rangeRepo size: 4

2025-10-25T04:07:00.695Z,1761365220.695 [DAT](INFO): DAT read: Range 10 to 50 :     5.9 m (tr.4

2025-10-25T04:07:00.696Z,1761365220.696 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-25T04:07:00.697Z,1761365220.697 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.673567
2025-10-25T04:07:00.947Z,1761365220.947 [DAT](INFO): DAT read: Rx Time:04:07:00.2120 

2025-10-25T04:07:00.947Z,1761365220.947 [DAT](INFO): Rx dataTimestamp_ set to:1761365220.947004
2025-10-25T04:07:00.949Z,1761365220.949 [DAT](INFO): DAT read: Range 10 to 50 :     5.9 m (trip time 3.9 ms) speed -0.4

2025-10-25T04:07:00.949Z,1761365220.949 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-25T04:07:00.950Z,1761365220.950 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.926954
2025-10-25T04:07:00.997Z,1761365220.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861773,0.506185,-0.033518],[-0.506929,0.856769,-0.094705],[-0.019221,0.098605,0.994941]]
2025-10-25T04:07:01.037Z,1761365221.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.756080 s,
      deltaX: 0.800000 m,
      approachRate: 1.058089 m/s,
      rangeRepo size: 4

2025-10-25T04:07:01.199Z,1761365221.199 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.176292
2025-10-25T04:07:01.350Z,1761365221.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860539,0.508392,-0.031780],[-0.508934,0.855479,-0.095617],[-0.021424,0.098456,0.994911]]
2025-10-25T04:07:01.450Z,1761365221.450 [DAT](INFO): DAT read: Rx Time:04:07:00.7121 

2025-10-25T04:07:01.451Z,1761365221.451 [DAT](INFO): Rx dataTimestamp_ set to:1761365221.450820
2025-10-25T04:07:01.453Z,1761365221.453 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-10-25T04:07:01.454Z,1761365221.454 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-10-25T04:07:01.455Z,1761365221.455 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.432203
2025-10-25T04:07:01.702Z,1761365221.702 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.678432
2025-10-25T04:07:01.746Z,1761365221.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858996,0.511115,-0.029788],[-0.511448,0.853985,-0.095554],[-0.023401,0.097315,0.994978]]
2025-10-25T04:07:01.786Z,1761365221.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:07:01.788Z,1761365221.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503816 s,
      deltaX: 0.100000 m,
      approachRate: 0.198485 m/s,
      rangeRepo size: 4

2025-10-25T04:07:01.954Z,1761365221.954 [DAT](INFO): DAT read: Rx Time:04:07:01.2121 

2025-10-25T04:07:01.954Z,1761365221.954 [DAT](INFO): Rx dataTimestamp_ set to:1761365221.953909
2025-10-25T04:07:01.955Z,1761365221.955 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-10-25T04:07:01.956Z,1761365221.956 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-10-25T04:07:01.957Z,1761365221.957 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.933853
2025-10-25T04:07:02.168Z,1761365222.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857193,0.514188,-0.028826],[-0.514391,0.852137,-0.096251],[-0.024927,0.097333,0.994940]]
2025-10-25T04:07:02.191Z,1761365222.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503089 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:02.208Z,1761365222.208 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.184813
2025-10-25T04:07:02.459Z,1761365222.459 [DAT](INFO): DAT read: Rx Time:04:07:01.7120 

2025-10-25T04:07:02.460Z,1761365222.460 [DAT](INFO): Rx dataTimestamp_ set to:1761365222.459509
2025-10-25T04:07:02.462Z,1761365222.462 [DAT](INFO): DAT read: Range 10 to 50 :     5.9 m (trip time 3.9 ms) speed -0.5

2025-10-25T04:07:02.462Z,1761365222.462 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-25T04:07:02.463Z,1761365222.463 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.440163
2025-10-25T04:07:02.556Z,1761365222.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855342,0.517341,-0.027350],[-0.517380,0.850313,-0.096362],[-0.026596,0.096573,0.994971]]
2025-10-25T04:07:02.642Z,1761365222.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.505600 s,
      deltaX: -0.100000 m,
      approachRate: -0.197785 m/s,
      rangeRepo size: 4

2025-10-25T04:07:02.711Z,1761365222.711 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.687262
2025-10-25T04:07:02.963Z,1761365222.963 [DAT](INFO): DAT read: Rx Time:04:07:02.2121 

2025-10-25T04:07:02.963Z,1761365222.963 [DAT](INFO): Rx dataTimestamp_ set to:1761365222.962862
2025-10-25T04:07:02.965Z,1761365222.965 [DAT](INFO): DAT read: Range 10 to 50 :     6.0 m (trip time 4.0 ms) speed -0.4

2025-10-25T04:07:02.965Z,1761365222.965 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-25T04:07:02.966Z,1761365222.966 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.942837
2025-10-25T04:07:02.992Z,1761365222.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853512,0.520355,-0.027332],[-0.520344,0.848372,-0.097502],[-0.027548,0.097441,0.994860]]
2025-10-25T04:07:03.037Z,1761365223.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503353 s,
      deltaX: 0.100000 m,
      approachRate: 0.198668 m/s,
      rangeRepo size: 4

2025-10-25T04:07:03.038Z,1761365223.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.00 m.
2025-10-25T04:07:03.215Z,1761365223.215 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.192131
2025-10-25T04:07:03.466Z,1761365223.466 [DAT](INFO): DAT read: Rx Time:04:07:02.7124 

2025-10-25T04:07:03.467Z,1761365223.467 [DAT](INFO): Rx dataTimestamp_ set to:1761365223.466404
2025-10-25T04:07:03.468Z,1761365223.468 [DAT](INFO): DAT read: Range 10 to 50 :     6.3 m (trip time 4.2 ms) speed -0.5

2025-10-25T04:07:03.469Z,1761365223.469 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-10-25T04:07:03.469Z,1761365223.469 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.446337
2025-10-25T04:07:03.499Z,1761365223.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.503542 s,
      deltaX: 0.300000 m,
      approachRate: 0.595780 m/s,
      rangeRepo size: 4

2025-10-25T04:07:03.500Z,1761365223.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.30 m.
2025-10-25T04:07:03.720Z,1761365223.720 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.695942
2025-10-25T04:07:03.827Z,1761365223.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850195,0.525699,-0.028444],[-0.525669,0.844689,-0.100865],[-0.028998,0.100708,0.994493]]
2025-10-25T04:07:03.893Z,1761365223.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:07:03.897Z,1761365223.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.30 m.
2025-10-25T04:07:03.970Z,1761365223.970 [DAT](INFO): DAT read: Rx Time:04:07:03.2125 

2025-10-25T04:07:03.970Z,1761365223.970 [DAT](INFO): Rx dataTimestamp_ set to:1761365223.970038
2025-10-25T04:07:03.972Z,1761365223.972 [DAT](INFO): DAT read: Range 10 to 50 :     6.5 m (trip time 4.3 ms) speed -0.6

2025-10-25T04:07:03.972Z,1761365223.972 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-10-25T04:07:03.973Z,1761365223.973 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.950003
2025-10-25T04:07:04.097Z,1761365224.097 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:07:04.222Z,1761365224.222 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.198444
2025-10-25T04:07:04.325Z,1761365224.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849013,0.527571,-0.029091],[-0.527566,0.843393,-0.101797],[-0.029170,0.101774,0.994380]]
2025-10-25T04:07:04.374Z,1761365224.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503634 s,
      deltaX: 0.200000 m,
      approachRate: 0.397113 m/s,
      rangeRepo size: 4

2025-10-25T04:07:04.375Z,1761365224.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.50 m.
2025-10-25T04:07:04.475Z,1761365224.475 [DAT](INFO): DAT read: Rx Time:04:07:03.7127 

2025-10-25T04:07:04.475Z,1761365224.475 [DAT](INFO): Rx dataTimestamp_ set to:1761365224.474948
2025-10-25T04:07:04.478Z,1761365224.478 [DAT](INFO): DAT read: Range 10 to 50 :     6.9 m (trip time 4.6 ms) speed -0.5

2025-10-25T04:07:04.481Z,1761365224.481 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-10-25T04:07:04.484Z,1761365224.484 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.460344
2025-10-25T04:07:04.695Z,1761365224.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847969,0.529202,-0.029915],[-0.529302,0.842439,-0.100677],[-0.028076,0.101205,0.994469]]
2025-10-25T04:07:04.724Z,1761365224.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.504910 s,
      deltaX: 0.400000 m,
      approachRate: 0.792221 m/s,
      rangeRepo size: 4

2025-10-25T04:07:04.726Z,1761365224.726 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.702551
2025-10-25T04:07:04.982Z,1761365224.982 [DAT](INFO): DAT read: Rx Time:04:07:04.2132 

2025-10-25T04:07:04.983Z,1761365224.983 [DAT](INFO): Rx dataTimestamp_ set to:1761365224.982466
2025-10-25T04:07:04.989Z,1761365224.989 [DAT](INFO): DAT read: Bearing 175.2,   0.3 (Local)

2025-10-25T04:07:04.990Z,1761365224.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.2,   0.3 (Local)

2025-10-25T04:07:04.999Z,1761365224.999 [DAT](INFO): DAT read: Range 10 to 50 :     7.7 m (trip time 5.1 ms) speed -0.6

2025-10-25T04:07:05.005Z,1761365225.005 [DAT](INFO): DAT read: 04:07:04.2132 LVL= 24048, 23953, 23250, 32755, AGC= 55, IDX= 510,-0.24, 1.428,-2.649, 1.373, 2.191, PHS=-0.675, 1.490,-0.822, RAW= 333.2,   0.1, CAL= 334.8,  -0.3, ROT= 175.2,   0.3

2025-10-25T04:07:05.006Z,1761365225.006 [DAT](INFO): got valid direction response:
 04:07:04.2132 LVL= 24048, 23953, 23250, 32755, AGC= 55, IDX= 510,-0.24, 1.428,-2.649, 1.373, 2.191, PHS=-0.675, 1.490,-0.822, RAW= 333.2,   0.1, CAL= 334.8,  -0.3, ROT= 175.2,   0.3

2025-10-25T04:07:05.007Z,1761365225.007 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-10-25T04:07:05.007Z,1761365225.007 [DAT](INFO): direction in FSK: [-0.996479,0.083677,-0.005236]
2025-10-25T04:07:05.008Z,1761365225.008 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:05.037Z,1761365225.037 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.009291
2025-10-25T04:07:05.097Z,1761365225.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847564,0.529845,-0.029991],[-0.529968,0.842103,-0.099984],[-0.027720,0.100637,0.994537]]
2025-10-25T04:07:05.154Z,1761365225.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.507518 s,
      deltaX: 0.800000 m,
      approachRate: 1.576298 m/s,
      rangeRepo size: 4

2025-10-25T04:07:05.156Z,1761365225.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.663427 m,
      bearing: 143.174828 deg,
      lat: 36.779458 deg,
      lon: -121.859727 deg,
      deltaT: 10.334957 s,
      deltaX: 4.379110 m,
      approachRate: 0.423718 m/s,
      posRepo size: 4

2025-10-25T04:07:05.161Z,1761365225.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.70 m. Rolling out.
2025-10-25T04:07:05.161Z,1761365225.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-10-25T04:07:05.204Z,1761365225.204 [DockingStepper](INFO): Changing to mode: 1
2025-10-25T04:07:05.231Z,1761365225.231 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.207619
2025-10-25T04:07:05.487Z,1761365225.487 [DAT](INFO): DAT read: Rx Time:04:07:04.7134 

2025-10-25T04:07:05.489Z,1761365225.489 [DAT](INFO): Rx dataTimestamp_ set to:1761365225.487496
2025-10-25T04:07:05.501Z,1761365225.501 [DAT](INFO): DAT read: Bearing 172.3,   1.4 (Local)

2025-10-25T04:07:05.501Z,1761365225.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.3,   1.4 (Local)

2025-10-25T04:07:05.503Z,1761365225.503 [DAT](INFO): DAT read: Range 10 to 50 :     8.0 m (trip time 5.3 ms) speed -0.8

2025-10-25T04:07:05.508Z,1761365225.508 [DAT](INFO): DAT read: 04:07:04.7134 LVL= 13600, 13809, 15602, 19395, AGC= 56, IDX=   0, 0.63, 2.837,-1.331, 2.650,-2.786, PHS=-0.572, 1.502,-0.850, RAW= 336.2,  -0.7, CAL= 337.7,  -1.4, ROT= 172.3,   1.4

2025-10-25T04:07:05.537Z,1761365225.537 [DAT](INFO): got valid direction response:
 04:07:04.7134 LVL= 13600, 13809, 15602, 19395, AGC= 56, IDX=   0, 0.63, 2.837,-1.331, 2.650,-2.786, PHS=-0.572, 1.502,-0.850, RAW= 336.2,  -0.7, CAL= 337.7,  -1.4, ROT= 172.3,   1.4

2025-10-25T04:07:05.537Z,1761365225.537 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-10-25T04:07:05.538Z,1761365225.538 [DAT](INFO): direction in FSK: [-0.990687,0.133946,-0.024432]
2025-10-25T04:07:05.539Z,1761365225.539 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:05.554Z,1761365225.554 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.531244
2025-10-25T04:07:05.565Z,1761365225.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847671,0.529633,-0.030712],[-0.529811,0.842117,-0.100693],[-0.027468,0.101626,0.994443]]
2025-10-25T04:07:05.676Z,1761365225.676 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-10-25T04:07:05.676Z,1761365225.676 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-25T04:07:05.681Z,1761365225.681 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-10-25T04:07:05.682Z,1761365225.682 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 7.700000 m (mode  5.000000 count ).
2025-10-25T04:07:05.682Z,1761365225.682 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-10-25T04:07:05.682Z,1761365225.682 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-10-25T04:07:05.683Z,1761365225.683 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-10-25T04:07:05.683Z,1761365225.683 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-25T04:07:05.683Z,1761365225.683 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-10-25T04:07:05.689Z,1761365225.689 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  7.700000 m (mode  5.000000 count ).
2025-10-25T04:07:05.689Z,1761365225.689 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-10-25T04:07:05.689Z,1761365225.689 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-10-25T04:07:05.700Z,1761365225.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.505030 s,
      deltaX: 0.300000 m,
      approachRate: 0.594024 m/s,
      rangeRepo size: 4

2025-10-25T04:07:05.706Z,1761365225.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.962017 m,
      bearing: 140.191545 deg,
      lat: 36.779458 deg,
      lon: -121.859728 deg,
      deltaT: 0.505030 s,
      deltaX: 0.298590 m,
      approachRate: 0.591233 m/s,
      posRepo size: 4

2025-10-25T04:07:05.707Z,1761365225.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:05.713Z,1761365225.713 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-25T04:07:05.713Z,1761365225.713 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-25T04:07:05.713Z,1761365225.713 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-25T04:07:05.713Z,1761365225.713 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-25T04:07:05.734Z,1761365225.734 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.710442
2025-10-25T04:07:05.988Z,1761365225.988 [DAT](INFO): DAT read: Rx Time:04:07:05.2136 

2025-10-25T04:07:05.989Z,1761365225.989 [DAT](INFO): Rx dataTimestamp_ set to:1761365225.987999
2025-10-25T04:07:05.991Z,1761365225.991 [DAT](INFO): DAT read: Range 10 to 50 :     8.3 m (trip time 5.5 ms) speed -0.6

2025-10-25T04:07:05.992Z,1761365225.992 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-10-25T04:07:05.998Z,1761365225.998 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.974186
2025-10-25T04:07:06.068Z,1761365226.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848558,0.528121,-0.032216],[-0.528380,0.842646,-0.103745],[-0.027644,0.105056,0.994082]]
2025-10-25T04:07:06.085Z,1761365226.085 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-10-25T04:07:06.085Z,1761365226.085 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-10-25T04:07:06.086Z,1761365226.086 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-10-25T04:07:06.086Z,1761365226.086 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-10-25T04:07:06.089Z,1761365226.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.500503 s,
      deltaX: 0.300000 m,
      approachRate: 0.599397 m/s,
      rangeRepo size: 4

2025-10-25T04:07:06.089Z,1761365226.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:06.238Z,1761365226.238 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.214403
2025-10-25T04:07:06.475Z,1761365226.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848478,0.527854,-0.038157],[-0.528589,0.841690,-0.110234],[-0.026072,0.113701,0.993173]]
2025-10-25T04:07:06.490Z,1761365226.490 [DAT](INFO): DAT read: Rx Time:04:07:05.7139 

2025-10-25T04:07:06.490Z,1761365226.490 [DAT](INFO): Rx dataTimestamp_ set to:1761365226.489801
2025-10-25T04:07:06.491Z,1761365226.491 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed -0.6

2025-10-25T04:07:06.492Z,1761365226.492 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-10-25T04:07:06.493Z,1761365226.493 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.469736
2025-10-25T04:07:06.599Z,1761365226.599 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-10-25T04:07:06.599Z,1761365226.599 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-10-25T04:07:06.599Z,1761365226.599 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-10-25T04:07:06.600Z,1761365226.600 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-10-25T04:07:06.607Z,1761365226.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.501802 s,
      deltaX: 0.400000 m,
      approachRate: 0.797126 m/s,
      rangeRepo size: 4

2025-10-25T04:07:06.607Z,1761365226.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:06.742Z,1761365226.742 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.718365
2025-10-25T04:07:06.978Z,1761365226.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849435,0.525877,-0.043750],[-0.527075,0.841502,-0.118605],[-0.025556,0.123807,0.991977]]
2025-10-25T04:07:06.995Z,1761365226.995 [DAT](INFO): DAT read: Rx Time:04:07:06.2139 

2025-10-25T04:07:06.995Z,1761365226.995 [DAT](INFO): Rx dataTimestamp_ set to:1761365226.995038
2025-10-25T04:07:06.997Z,1761365226.997 [DAT](INFO): DAT read: Range 10 to 50 :     8.7 m (trip time 5.8 ms) speed -0.6

2025-10-25T04:07:06.997Z,1761365226.997 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-25T04:07:06.998Z,1761365226.998 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.975002
2025-10-25T04:07:07.003Z,1761365227.003 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-10-25T04:07:07.003Z,1761365227.003 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-25T04:07:07.003Z,1761365227.003 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-10-25T04:07:07.003Z,1761365227.003 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-10-25T04:07:07.004Z,1761365227.004 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-10-25T04:07:07.004Z,1761365227.004 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-25T04:07:07.004Z,1761365227.004 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-10-25T04:07:07.004Z,1761365227.004 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-10-25T04:07:07.007Z,1761365227.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.505237 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:07.007Z,1761365227.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:07.157Z,1761365227.157 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:07:07.247Z,1761365227.247 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.223999
2025-10-25T04:07:07.385Z,1761365227.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850634,0.523591,-0.047682],[-0.525140,0.841737,-0.125330],[-0.025486,0.131649,0.990969]]
2025-10-25T04:07:07.484Z,1761365227.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:07.506Z,1761365227.506 [DAT](INFO): DAT read: Rx Time:04:07:06.7142 

2025-10-25T04:07:07.507Z,1761365227.507 [DAT](INFO): Rx dataTimestamp_ set to:1761365227.506356
2025-10-25T04:07:07.508Z,1761365227.508 [DAT](INFO): DAT read: Range 10 to 50 :     9.2 m (trip time 6.1 ms) speed -0.6

2025-10-25T04:07:07.509Z,1761365227.509 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-10-25T04:07:07.509Z,1761365227.509 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.486271
2025-10-25T04:07:07.758Z,1761365227.758 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.734383
2025-10-25T04:07:08.002Z,1761365228.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852149,0.520911,-0.049947],[-0.522662,0.842512,-0.130377],[-0.025834,0.137206,0.990206]]
2025-10-25T04:07:08.010Z,1761365228.010 [DAT](INFO): DAT read: Rx Time:04:07:07.2143 

2025-10-25T04:07:08.011Z,1761365228.011 [DAT](INFO): Rx dataTimestamp_ set to:1761365228.010699
2025-10-25T04:07:08.013Z,1761365228.013 [DAT](INFO): DAT read: Range 10 to 50 :     9.3 m (trip time 6.2 ms) speed -0.4

2025-10-25T04:07:08.013Z,1761365228.013 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-10-25T04:07:08.014Z,1761365228.014 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.990988
2025-10-25T04:07:08.066Z,1761365228.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 1.015661 s,
      deltaX: 0.600000 m,
      approachRate: 0.590749 m/s,
      rangeRepo size: 4

2025-10-25T04:07:08.067Z,1761365228.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:08.262Z,1761365228.262 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.238958
2025-10-25T04:07:08.514Z,1761365228.514 [DAT](INFO): DAT read: Rx Time:04:07:07.7145 

2025-10-25T04:07:08.514Z,1761365228.514 [DAT](INFO): Rx dataTimestamp_ set to:1761365228.514072
2025-10-25T04:07:08.516Z,1761365228.516 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed -0.4

2025-10-25T04:07:08.516Z,1761365228.516 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-25T04:07:08.517Z,1761365228.517 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.494001
2025-10-25T04:07:08.541Z,1761365228.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503373 s,
      deltaX: 0.300000 m,
      approachRate: 0.595980 m/s,
      rangeRepo size: 4

2025-10-25T04:07:08.541Z,1761365228.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:08.766Z,1761365228.766 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.742985
2025-10-25T04:07:08.852Z,1761365228.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856806,0.513189,-0.050208],[-0.514872,0.846155,-0.137584],[-0.028123,0.143733,0.989217]]
2025-10-25T04:07:08.889Z,1761365228.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:09.018Z,1761365229.018 [DAT](INFO): DAT read: Rx Time:04:07:08.2145 

2025-10-25T04:07:09.018Z,1761365229.018 [DAT](INFO): Rx dataTimestamp_ set to:1761365229.017857
2025-10-25T04:07:09.019Z,1761365229.019 [DAT](INFO): DAT read: Range 10 to 50 :     9.6 m (trip time 6.4 ms) speed -0.3

2025-10-25T04:07:09.020Z,1761365229.020 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-25T04:07:09.021Z,1761365229.021 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.997776
2025-10-25T04:07:09.266Z,1761365229.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858012,0.511205,-0.049841],[-0.512817,0.847160,-0.139063],[-0.028866,0.144877,0.989029]]
2025-10-25T04:07:09.270Z,1761365229.270 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.246565
2025-10-25T04:07:09.330Z,1761365229.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.503785 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:09.330Z,1761365229.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:09.522Z,1761365229.522 [DAT](INFO): DAT read: 

2025-10-25T04:07:09.523Z,1761365229.523 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.499542
2025-10-25T04:07:09.731Z,1761365229.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859030,0.509526,-0.049504],[-0.511117,0.848222,-0.138849],[-0.028757,0.144577,0.989076]]
2025-10-25T04:07:09.779Z,1761365229.779 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.755917
2025-10-25T04:07:09.803Z,1761365229.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:10.030Z,1761365230.030 [DAT](INFO): DAT read: Rx Time:04:07:09.2146 

2025-10-25T04:07:10.030Z,1761365230.030 [DAT](INFO): Rx dataTimestamp_ set to:1761365230.029941
2025-10-25T04:07:10.031Z,1761365230.031 [DAT](INFO): DAT read: Range 10 to 50 :     9.8 m (trip time 6.5 ms) speed 0.0

2025-10-25T04:07:10.032Z,1761365230.032 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-10-25T04:07:10.033Z,1761365230.033 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=30.010103
2025-10-25T04:07:10.121Z,1761365230.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859794,0.508146,-0.050404],[-0.509834,0.848700,-0.140633],[-0.028684,0.146614,0.988778]]
2025-10-25T04:07:10.162Z,1761365230.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 1.012084 s,
      deltaX: 0.200000 m,
      approachRate: 0.197612 m/s,
      rangeRepo size: 4

2025-10-25T04:07:10.162Z,1761365230.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:10.205Z,1761365230.205 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:07:10.283Z,1761365230.283 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=30.259771
2025-10-25T04:07:10.534Z,1761365230.534 [DAT](INFO): DAT read: Rx Time:04:07:09.7149 

2025-10-25T04:07:10.534Z,1761365230.534 [DAT](INFO): Rx dataTimestamp_ set to:1761365230.534086
2025-10-25T04:07:10.536Z,1761365230.536 [DAT](INFO): DAT read: Range 10 to 50 :    10.2 m (trip time 6.8 ms) speed -3.3

2025-10-25T04:07:10.536Z,1761365230.536 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-25T04:07:10.537Z,1761365230.537 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.514208
2025-10-25T04:07:10.544Z,1761365230.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860752,0.506536,-0.050268],[-0.508201,0.849549,-0.141412],[-0.028925,0.147267,0.988674]]
2025-10-25T04:07:10.631Z,1761365230.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.504145 s,
      deltaX: 0.400000 m,
      approachRate: 0.793422 m/s,
      rangeRepo size: 4

2025-10-25T04:07:10.632Z,1761365230.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:10.786Z,1761365230.786 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.762423
2025-10-25T04:07:10.930Z,1761365230.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861083,0.505995,-0.050051],[-0.507666,0.850041,-0.140377],[-0.028485,0.146286,0.988832]]
2025-10-25T04:07:10.963Z,1761365230.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:11.038Z,1761365231.038 [DAT](INFO): DAT read: Rx Time:04:07:10.2148 

2025-10-25T04:07:11.039Z,1761365231.039 [DAT](INFO): Rx dataTimestamp_ set to:1761365231.038598
2025-10-25T04:07:11.040Z,1761365231.040 [DAT](INFO): DAT read: Range 10 to 50 :    10.1 m (trip time 6.7 ms) speed -3.3

2025-10-25T04:07:11.045Z,1761365231.045 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-10-25T04:07:11.046Z,1761365231.046 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=31.023127
2025-10-25T04:07:11.290Z,1761365231.290 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=31.267017
2025-10-25T04:07:11.336Z,1761365231.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861475,0.505299,-0.050340],[-0.507026,0.850451,-0.140210],[-0.028036,0.146312,0.988841]]
2025-10-25T04:07:11.430Z,1761365231.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.504512 s,
      deltaX: -0.099999 m,
      approachRate: -0.198210 m/s,
      rangeRepo size: 4

2025-10-25T04:07:11.432Z,1761365231.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:11.542Z,1761365231.542 [DAT](INFO): DAT read: Rx Time:04:07:10.7151 

2025-10-25T04:07:11.543Z,1761365231.543 [DAT](INFO): Rx dataTimestamp_ set to:1761365231.542767
2025-10-25T04:07:11.546Z,1761365231.546 [DAT](INFO): DAT read: Range 10 to 50 :    10.5 m (trip time 7.0 ms) speed -0.2

2025-10-25T04:07:11.546Z,1761365231.546 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-10-25T04:07:11.548Z,1761365231.548 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.524368
2025-10-25T04:07:11.741Z,1761365231.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861386,0.505354,-0.051296],[-0.507221,0.850344,-0.140148],[-0.027205,0.146740,0.988801]]
2025-10-25T04:07:11.795Z,1761365231.795 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.771130
2025-10-25T04:07:11.800Z,1761365231.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.504169 s,
      deltaX: 0.400000 m,
      approachRate: 0.793384 m/s,
      rangeRepo size: 4

2025-10-25T04:07:11.800Z,1761365231.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:12.048Z,1761365232.048 [DAT](INFO): DAT read: Rx Time:04:07:11.2150 

2025-10-25T04:07:12.049Z,1761365232.049 [DAT](INFO): Rx dataTimestamp_ set to:1761365232.048248
2025-10-25T04:07:12.050Z,1761365232.050 [DAT](INFO): DAT read: Range 10 to 50 :    10.4 m (trip time 6.9 ms) speed -3.3

2025-10-25T04:07:12.050Z,1761365232.050 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-10-25T04:07:12.051Z,1761365232.051 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=32.028172
2025-10-25T04:07:12.141Z,1761365232.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861161,0.505649,-0.052165],[-0.507657,0.850189,-0.139507],[-0.026191,0.146620,0.988846]]
2025-10-25T04:07:12.182Z,1761365232.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.505481 s,
      deltaX: -0.100000 m,
      approachRate: -0.197832 m/s,
      rangeRepo size: 4

2025-10-25T04:07:12.182Z,1761365232.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:12.304Z,1761365232.304 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=32.280239
2025-10-25T04:07:12.558Z,1761365232.558 [DAT](INFO): DAT read: Rx Time:07152 

2025-10-25T04:07:12.558Z,1761365232.558 [DAT](INFO): Rx dataTimestamp_ set to:1761365232.557821
2025-10-25T04:07:12.559Z,1761365232.559 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed -0.2

2025-10-25T04:07:12.561Z,1761365232.561 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-10-25T04:07:12.562Z,1761365232.562 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.539043
2025-10-25T04:07:12.673Z,1761365232.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.509573 s,
      deltaX: 0.300000 m,
      approachRate: 0.588729 m/s,
      rangeRepo size: 4

2025-10-25T04:07:12.673Z,1761365232.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:12.811Z,1761365232.811 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.787586
2025-10-25T04:07:12.967Z,1761365232.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860259,0.506751,-0.056199],[-0.509316,0.849031,-0.140514],[-0.023491,0.149502,0.988482]]
2025-10-25T04:07:12.986Z,1761365232.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:13.063Z,1761365233.063 [DAT](INFO): DAT read: Rx Time:04:07:12.2152 

2025-10-25T04:07:13.064Z,1761365233.064 [DAT](INFO): Rx dataTimestamp_ set to:1761365233.063535
2025-10-25T04:07:13.066Z,1761365233.066 [DAT](INFO): DAT read: Range 10 to 50 :    10.7 m (trip time 7.1 ms) speed -3.3

2025-10-25T04:07:13.067Z,1761365233.067 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-10-25T04:07:13.068Z,1761365233.068 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=33.044815
2025-10-25T04:07:13.315Z,1761365233.315 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=33.291367
2025-10-25T04:07:13.352Z,1761365233.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859384,0.507935,-0.058830],[-0.510859,0.847952,-0.141425],[-0.021950,0.151593,0.988199]]
2025-10-25T04:07:13.428Z,1761365233.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.505714 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:13.434Z,1761365233.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:13.566Z,1761365233.566 [DAT](INFO): DAT read: Rx Time:04:07:12.7153 

2025-10-25T04:07:13.567Z,1761365233.567 [DAT](INFO): Rx dataTimestamp_ set to:1761365233.566639
2025-10-25T04:07:13.568Z,1761365233.568 [DAT](INFO): DAT read: Range 10 to 50 :    10.8 m (trip time 7.2 ms) speed -0.2

2025-10-25T04:07:13.569Z,1761365233.569 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-10-25T04:07:13.570Z,1761365233.570 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.547138
2025-10-25T04:07:13.758Z,1761365233.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858596,0.508852,-0.062308],[-0.512258,0.846804,-0.143227],[-0.020118,0.154892,0.987726]]
2025-10-25T04:07:13.809Z,1761365233.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.503104 s,
      deltaX: 0.100000 m,
      approachRate: 0.198767 m/s,
      rangeRepo size: 4

2025-10-25T04:07:13.809Z,1761365233.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:13.818Z,1761365233.818 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.794529
2025-10-25T04:07:14.070Z,1761365234.070 [DAT](INFO): DAT read: Rx Time:04:07:13.2154 

2025-10-25T04:07:14.070Z,1761365234.070 [DAT](INFO): Rx dataTimestamp_ set to:1761365234.069830
2025-10-25T04:07:14.071Z,1761365234.071 [DAT](INFO): DAT read: Range 10 to 50 :    11.0 m (trip time 7.3 ms) speed 0.0

2025-10-25T04:07:14.072Z,1761365234.072 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-25T04:07:14.073Z,1761365234.073 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.049774
2025-10-25T04:07:14.199Z,1761365234.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 0.503191 s,
      deltaX: 0.200000 m,
      approachRate: 0.397463 m/s,
      rangeRepo size: 4

2025-10-25T04:07:14.199Z,1761365234.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:14.322Z,1761365234.322 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.298500
2025-10-25T04:07:14.566Z,1761365234.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856367,0.511753,-0.068884],[-0.516119,0.844161,-0.144960],[-0.016034,0.159691,0.987037]]
2025-10-25T04:07:14.574Z,1761365234.574 [DAT](INFO): DAT read: Rx Time:04:07:13.7156 

2025-10-25T04:07:14.574Z,1761365234.574 [DAT](INFO): Rx dataTimestamp_ set to:1761365234.573807
2025-10-25T04:07:14.575Z,1761365234.575 [DAT](INFO): DAT read: Range 10 to 50 :    11.3 m (trip time 7.5 ms) speed -0.2

2025-10-25T04:07:14.576Z,1761365234.576 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-10-25T04:07:14.578Z,1761365234.578 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.554432
2025-10-25T04:07:14.585Z,1761365234.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:07:14.650Z,1761365234.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.503977 s,
      deltaX: 0.300000 m,
      approachRate: 0.595266 m/s,
      rangeRepo size: 4

2025-10-25T04:07:14.651Z,1761365234.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:14.826Z,1761365234.826 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.802361
2025-10-25T04:07:14.973Z,1761365234.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855349,0.513104,-0.071427],[-0.517862,0.843146,-0.144650],[-0.013997,0.160716,0.986902]]
2025-10-25T04:07:14.992Z,1761365234.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:15.079Z,1761365235.079 [DAT](INFO): DAT read: Rx Time:04:07:14.2155 

2025-10-25T04:07:15.080Z,1761365235.080 [DAT](INFO): Rx dataTimestamp_ set to:1761365235.079662
2025-10-25T04:07:15.082Z,1761365235.082 [DAT](INFO): DAT read: Range 10 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-10-25T04:07:15.083Z,1761365235.083 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-25T04:07:15.085Z,1761365235.085 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.061287
2025-10-25T04:07:15.330Z,1761365235.330 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.306339
2025-10-25T04:07:15.375Z,1761365235.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854043,0.514986,-0.073480],[-0.520060,0.841947,-0.143743],[-0.012159,0.160976,0.986883]]
2025-10-25T04:07:15.448Z,1761365235.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.505855 s,
      deltaX: -0.200000 m,
      approachRate: -0.395370 m/s,
      rangeRepo size: 4

2025-10-25T04:07:15.455Z,1761365235.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:15.583Z,1761365235.583 [DAT](INFO): DAT read: Rx Time:04:07:14.7157 

2025-10-25T04:07:15.583Z,1761365235.583 [DAT](INFO): Rx dataTimestamp_ set to:1761365235.582886
2025-10-25T04:07:15.585Z,1761365235.585 [DAT](INFO): DAT read: Range 10 to 50 :    11.4 m (trip time 7.6 ms) speed -3.2

2025-10-25T04:07:15.586Z,1761365235.586 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-10-25T04:07:15.588Z,1761365235.588 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.564514
2025-10-25T04:07:15.589Z,1761365235.589 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:07:15.778Z,1761365235.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852852,0.516477,-0.076778],[-0.522066,0.840771,-0.143358],[-0.009489,0.162346,0.986688]]
2025-10-25T04:07:15.834Z,1761365235.834 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.810471
2025-10-25T04:07:15.869Z,1761365235.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.503224 s,
      deltaX: 0.299999 m,
      approachRate: 0.596154 m/s,
      rangeRepo size: 4

2025-10-25T04:07:15.870Z,1761365235.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:16.086Z,1761365236.086 [DAT](INFO): DAT read: Rx Time:04:07:15.2157 

2025-10-25T04:07:16.086Z,1761365236.086 [DAT](INFO): Rx dataTimestamp_ set to:1761365236.085897
2025-10-25T04:07:16.087Z,1761365236.087 [DAT](INFO): DAT read: Range 10 to 50 :    11.4 m (trip time 7.6 ms) speed -0.3

2025-10-25T04:07:16.088Z,1761365236.088 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-10-25T04:07:16.090Z,1761365236.090 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.066475
2025-10-25T04:07:16.181Z,1761365236.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851542,0.518157,-0.079930],[-0.524238,0.839456,-0.143139],[-0.007071,0.163792,0.986470]]
2025-10-25T04:07:16.216Z,1761365236.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.503011 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:16.221Z,1761365236.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:16.338Z,1761365236.338 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.315109
2025-10-25T04:07:16.584Z,1761365236.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850364,0.519669,-0.082611],[-0.526170,0.838274,-0.142974],[-0.005049,0.165047,0.986273]]
2025-10-25T04:07:16.590Z,1761365236.590 [DAT](INFO): DAT read: Rx Time:04:07:15.7159 

2025-10-25T04:07:16.590Z,1761365236.590 [DAT](INFO): Rx dataTimestamp_ set to:1761365236.589971
2025-10-25T04:07:16.591Z,1761365236.591 [DAT](INFO): DAT read: Range 10 to 50 :    11.7 m (trip time 7.8 ms) speed -0.3

2025-10-25T04:07:16.592Z,1761365236.592 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-10-25T04:07:16.595Z,1761365236.595 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.571815
2025-10-25T04:07:16.673Z,1761365236.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504074 s,
      deltaX: 0.300000 m,
      approachRate: 0.595151 m/s,
      rangeRepo size: 4

2025-10-25T04:07:16.673Z,1761365236.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:16.842Z,1761365236.842 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.818363
2025-10-25T04:07:17.029Z,1761365237.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:17.095Z,1761365237.095 [DAT](INFO): DAT read: Rx Time:04:07:16.2159 

2025-10-25T04:07:17.096Z,1761365237.096 [DAT](INFO): Rx dataTimestamp_ set to:1761365237.095609
2025-10-25T04:07:17.098Z,1761365237.098 [DAT](INFO): DAT read: Range 10 to 50 :    11.7 m (trip time 7.8 ms) speed -0.3

2025-10-25T04:07:17.099Z,1761365237.099 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-25T04:07:17.100Z,1761365237.100 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.076923
2025-10-25T04:07:17.346Z,1761365237.346 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.322388
2025-10-25T04:07:17.401Z,1761365237.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848039,0.522329,-0.089460],[-0.529934,0.835851,-0.143257],[-0.000052,0.168895,0.985634]]
2025-10-25T04:07:17.552Z,1761365237.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.505638 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:17.561Z,1761365237.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:17.598Z,1761365237.598 [DAT](INFO): DAT read: Rx Time:04:07:16.7160 

2025-10-25T04:07:17.598Z,1761365237.598 [DAT](INFO): Rx dataTimestamp_ set to:1761365237.598137
2025-10-25T04:07:17.600Z,1761365237.600 [DAT](INFO): DAT read: Range 10 to 50 :    11.9 m (trip time 7.9 ms) speed -0.3

2025-10-25T04:07:17.600Z,1761365237.600 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-10-25T04:07:17.601Z,1761365237.601 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.578228
2025-10-25T04:07:17.807Z,1761365237.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847121,0.523281,-0.092539],[-0.531394,0.835006,-0.142779],[0.002557,0.170126,0.985419]]
2025-10-25T04:07:17.835Z,1761365237.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.502528 s,
      deltaX: 0.200000 m,
      approachRate: 0.397987 m/s,
      rangeRepo size: 4

2025-10-25T04:07:17.836Z,1761365237.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:17.850Z,1761365237.850 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.826538
2025-10-25T04:07:18.102Z,1761365238.102 [DAT](INFO): DAT read: Rx Time:04:07:17.2161 

2025-10-25T04:07:18.102Z,1761365238.102 [DAT](INFO): Rx dataTimestamp_ set to:1761365238.101890
2025-10-25T04:07:18.103Z,1761365238.103 [DAT](INFO): DAT read: Range 10 to 50 :    12.0 m (trip time 8.0 ms) speed -0.4

2025-10-25T04:07:18.104Z,1761365238.104 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-25T04:07:18.105Z,1761365238.105 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.081810
2025-10-25T04:07:18.204Z,1761365238.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845892,0.524776,-0.095269],[-0.533332,0.833885,-0.142104],[0.004871,0.171015,0.985256]]
2025-10-25T04:07:18.243Z,1761365238.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.503753 s,
      deltaX: 0.100000 m,
      approachRate: 0.198511 m/s,
      rangeRepo size: 4

2025-10-25T04:07:18.249Z,1761365238.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:18.354Z,1761365238.354 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.330406
2025-10-25T04:07:18.606Z,1761365238.606 [DAT](INFO): DAT read: Rx Time:04:07:17.7163 

2025-10-25T04:07:18.606Z,1761365238.606 [DAT](INFO): Rx dataTimestamp_ set to:1761365238.605984
2025-10-25T04:07:18.607Z,1761365238.607 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed -0.5

2025-10-25T04:07:18.608Z,1761365238.608 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-10-25T04:07:18.609Z,1761365238.609 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.585934
2025-10-25T04:07:18.617Z,1761365238.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845178,0.525472,-0.097737],[-0.534436,0.833312,-0.141313],[0.007189,0.171669,0.985128]]
2025-10-25T04:07:18.707Z,1761365238.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504094 s,
      deltaX: 0.300000 m,
      approachRate: 0.595127 m/s,
      rangeRepo size: 4

2025-10-25T04:07:18.707Z,1761365238.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:18.858Z,1761365238.858 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.834591
2025-10-25T04:07:19.016Z,1761365239.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844652,0.525893,-0.099999],[-0.535238,0.832846,-0.141025],[0.009120,0.172640,0.984943]]
2025-10-25T04:07:19.036Z,1761365239.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m.
2025-10-25T04:07:19.113Z,1761365239.113 [DAT](INFO): DAT read: Rx Time:04:07:18.2163 

2025-10-25T04:07:19.113Z,1761365239.113 [DAT](INFO): Rx dataTimestamp_ set to:1761365239.112882
2025-10-25T04:07:19.114Z,1761365239.114 [DAT](INFO): DAT read: Bearing 171.5,  -0.5 (Local)

2025-10-25T04:07:19.115Z,1761365239.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.5,  -0.5 (Local)

2025-10-25T04:07:19.117Z,1761365239.117 [DAT](INFO): DAT read: Range 10 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-10-25T04:07:19.124Z,1761365239.124 [DAT](INFO): DAT read: 04:07:18.2163 LVL= 29776, 28145, 28530, 32755, AGC= 63, IDX= 509, 0.25,-3.013,-0.924, 3.040,-2.324, PHS=-0.601, 1.448,-0.922, RAW= 337.2,   0.7, CAL= 338.5,   0.5, ROT= 171.5,  -0.5

2025-10-25T04:07:19.126Z,1761365239.126 [DAT](INFO): got valid direction response:
 04:07:18.2163 LVL= 29776, 28145, 28530, 32755, AGC= 63, IDX= 509, 0.25,-3.013,-0.924, 3.040,-2.324, PHS=-0.601, 1.448,-0.922, RAW= 337.2,   0.7, CAL= 338.5,   0.5, ROT= 171.5,  -0.5

2025-10-25T04:07:19.127Z,1761365239.127 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-10-25T04:07:19.133Z,1761365239.133 [DAT](INFO): direction in FSK: [-0.988978,0.147804,0.008727]
2025-10-25T04:07:19.134Z,1761365239.134 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:19.141Z,1761365239.141 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.118179
2025-10-25T04:07:19.362Z,1761365239.362 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.338383
2025-10-25T04:07:19.423Z,1761365239.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844341,0.525992,-0.102085],[-0.535692,0.832633,-0.140558],[0.011067,0.173364,0.984796]]
2025-10-25T04:07:19.568Z,1761365239.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.506898 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:19.580Z,1761365239.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.241690 m,
      bearing: 139.322234 deg,
      lat: 36.779458 deg,
      lon: -121.859728 deg,
      deltaT: 13.625386 s,
      deltaX: 4.279673 m,
      approachRate: 0.314096 m/s,
      posRepo size: 4

2025-10-25T04:07:19.580Z,1761365239.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m.
2025-10-25T04:07:19.614Z,1761365239.614 [DAT](INFO): DAT read: Rx Time:04:07:18.7165 

2025-10-25T04:07:19.615Z,1761365239.615 [DAT](INFO): Rx dataTimestamp_ set to:1761365239.614469
2025-10-25T04:07:19.616Z,1761365239.616 [DAT](INFO): DAT read: Bearing 171.7,  -2.0 (Local)

2025-10-25T04:07:19.617Z,1761365239.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.7,  -2.0 (Local)

2025-10-25T04:07:19.619Z,1761365239.619 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-10-25T04:07:19.624Z,1761365239.624 [DAT](INFO): DAT read: 04:07:18.7165 LVL= 32752, 32753, 31602, 32755, AGC= 63, IDX= 511, 0.43,-1.948, 0.147,-2.166,-1.217, PHS=-0.644, 1.410,-0.953, RAW= 336.9,   1.7, CAL= 338.3,   2.0, ROT= 171.7,  -2.0

2025-10-25T04:07:19.625Z,1761365239.625 [DAT](INFO): got valid direction response:
 04:07:18.7165 LVL= 32752, 32753, 31602, 32755, AGC= 63, IDX= 511, 0.43,-1.948, 0.147,-2.166,-1.217, PHS=-0.644, 1.410,-0.953, RAW= 336.9,   1.7, CAL= 338.3,   2.0, ROT= 171.7,  -2.0

2025-10-25T04:07:19.625Z,1761365239.625 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-10-25T04:07:19.626Z,1761365239.626 [DAT](INFO): direction in FSK: [-0.988923,0.144268,0.034899]
2025-10-25T04:07:19.627Z,1761365239.627 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:19.631Z,1761365239.631 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.608246
2025-10-25T04:07:19.847Z,1761365239.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843962,0.526222,-0.104012],[-0.536248,0.832374,-0.139968],[0.012923,0.173904,0.984678]]
2025-10-25T04:07:19.866Z,1761365239.866 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.842552
2025-10-25T04:07:19.969Z,1761365239.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.501587 s,
      deltaX: 0.200000 m,
      approachRate: 0.398734 m/s,
      rangeRepo size: 4

2025-10-25T04:07:19.971Z,1761365239.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.440741 m,
      bearing: 139.743362 deg,
      lat: 36.779460 deg,
      lon: -121.859725 deg,
      deltaT: 0.501587 s,
      deltaX: 0.199051 m,
      approachRate: 0.396842 m/s,
      posRepo size: 4

2025-10-25T04:07:19.971Z,1761365239.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:20.118Z,1761365240.118 [DAT](INFO): DAT read: Rx Time:04:07:19.2165 

2025-10-25T04:07:20.118Z,1761365240.118 [DAT](INFO): Rx dataTimestamp_ set to:1761365240.117851
2025-10-25T04:07:20.119Z,1761365240.119 [DAT](INFO): DAT read: Range 10 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-10-25T04:07:20.120Z,1761365240.120 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-10-25T04:07:20.121Z,1761365240.121 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.097820
2025-10-25T04:07:20.239Z,1761365240.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844069,0.525574,-0.106390],[-0.536025,0.832513,-0.139997],[0.014992,0.175195,0.984420]]
2025-10-25T04:07:20.262Z,1761365240.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.503382 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:20.262Z,1761365240.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:20.370Z,1761365240.370 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.346832
2025-10-25T04:07:20.622Z,1761365240.622 [DAT](INFO): DAT read: Rx Time:04:07:19.7166 

2025-10-25T04:07:20.622Z,1761365240.622 [DAT](INFO): Rx dataTimestamp_ set to:1761365240.621947
2025-10-25T04:07:20.623Z,1761365240.623 [DAT](INFO): DAT read: Range 10 to 50 :    12.8 m (trip time 8.5 ms) speed 0.0

2025-10-25T04:07:20.624Z,1761365240.624 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-25T04:07:20.630Z,1761365240.630 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.606415
2025-10-25T04:07:20.741Z,1761365240.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504096 s,
      deltaX: 0.300000 m,
      approachRate: 0.595125 m/s,
      rangeRepo size: 4

2025-10-25T04:07:20.741Z,1761365240.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:20.874Z,1761365240.874 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.850418
2025-10-25T04:07:21.045Z,1761365241.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844782,0.523576,-0.110505],[-0.534802,0.833110,-0.141116],[0.018178,0.178311,0.983806]]
2025-10-25T04:07:21.078Z,1761365241.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:21.127Z,1761365241.127 [DAT](INFO): DAT read: Rx Time:04:07:20.2166 

2025-10-25T04:07:21.128Z,1761365241.128 [DAT](INFO): Rx dataTimestamp_ set to:1761365241.127668
2025-10-25T04:07:21.130Z,1761365241.130 [DAT](INFO): DAT read: Range 10 to 50 :    12.8 m (trip time 8.5 ms) speed -0.3

2025-10-25T04:07:21.131Z,1761365241.131 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-10-25T04:07:21.133Z,1761365241.133 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=41.109074
2025-10-25T04:07:21.379Z,1761365241.379 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=41.356136
2025-10-25T04:07:21.503Z,1761365241.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.505721 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:21.503Z,1761365241.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:21.631Z,1761365241.631 [DAT](INFO): DAT read: Rx Time:04:07:20.7167 

2025-10-25T04:07:21.631Z,1761365241.631 [DAT](INFO): Rx dataTimestamp_ set to:1761365241.630947
2025-10-25T04:07:21.633Z,1761365241.633 [DAT](INFO): DAT read: Range 10 to 50 :    12.9 m (trip time 8.6 ms) speed -0.3

2025-10-25T04:07:21.634Z,1761365241.634 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-10-25T04:07:21.636Z,1761365241.636 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.612228
2025-10-25T04:07:21.867Z,1761365241.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845235,0.522148,-0.113756],[-0.533986,0.833565,-0.141525],[0.020926,0.180365,0.983377]]
2025-10-25T04:07:21.882Z,1761365241.882 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.858498
2025-10-25T04:07:21.932Z,1761365241.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.503279 s,
      deltaX: 0.099999 m,
      approachRate: 0.198696 m/s,
      rangeRepo size: 4

2025-10-25T04:07:21.937Z,1761365241.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:22.134Z,1761365242.134 [DAT](INFO): DAT read: Rx Time:04:07:21.2168 

2025-10-25T04:07:22.134Z,1761365242.134 [DAT](INFO): Rx dataTimestamp_ set to:1761365242.133949
2025-10-25T04:07:22.135Z,1761365242.135 [DAT](INFO): DAT read: Range 10 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-10-25T04:07:22.136Z,1761365242.136 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-25T04:07:22.137Z,1761365242.137 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=42.113869
2025-10-25T04:07:22.259Z,1761365242.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845398,0.521660,-0.114775],[-0.533691,0.833747,-0.141563],[0.021845,0.180931,0.983253]]
2025-10-25T04:07:22.302Z,1761365242.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.503002 s,
      deltaX: 0.200001 m,
      approachRate: 0.397614 m/s,
      rangeRepo size: 4

2025-10-25T04:07:22.302Z,1761365242.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:22.387Z,1761365242.387 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=42.363323
2025-10-25T04:07:22.642Z,1761365242.642 [DAT](INFO): DAT read: Rx Time:04:07:21.7169 

2025-10-25T04:07:22.642Z,1761365242.642 [DAT](INFO): Rx dataTimestamp_ set to:1761365242.641921
2025-10-25T04:07:22.644Z,1761365242.644 [DAT](INFO): DAT read: Range 10 to 50 :    13.2 m (trip time 8.8 ms) speed 0.1

2025-10-25T04:07:22.650Z,1761365242.650 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-10-25T04:07:22.651Z,1761365242.651 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.627384
2025-10-25T04:07:22.663Z,1761365242.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845747,0.520848,-0.115884],[-0.533095,0.834096,-0.141754],[0.022826,0.181665,0.983095]]
2025-10-25T04:07:22.739Z,1761365242.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.507972 s,
      deltaX: 0.099999 m,
      approachRate: 0.196860 m/s,
      rangeRepo size: 4

2025-10-25T04:07:22.740Z,1761365242.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:22.890Z,1761365242.890 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.866947
2025-10-25T04:07:23.066Z,1761365243.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846232,0.519858,-0.116789],[-0.532292,0.834551,-0.142088],[0.023601,0.182406,0.982940]]
2025-10-25T04:07:23.105Z,1761365243.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:23.142Z,1761365243.142 [DAT](INFO): DAT read: Rx Time:04:07:22.2169 

2025-10-25T04:07:23.142Z,1761365243.142 [DAT](INFO): Rx dataTimestamp_ set to:1761365243.141941
2025-10-25T04:07:23.144Z,1761365243.144 [DAT](INFO): DAT read: Range 10 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-10-25T04:07:23.145Z,1761365243.145 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-10-25T04:07:23.146Z,1761365243.146 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=43.123035
2025-10-25T04:07:23.395Z,1761365243.395 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=43.371567
2025-10-25T04:07:23.474Z,1761365243.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846775,0.518716,-0.117919],[-0.531381,0.835076,-0.142416],[0.024598,0.183254,0.982758]]
2025-10-25T04:07:23.503Z,1761365243.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.500020 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:23.504Z,1761365243.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:23.646Z,1761365243.646 [DAT](INFO): DAT read: Rx Time:04:07:22.7170 

2025-10-25T04:07:23.647Z,1761365243.647 [DAT](INFO): Rx dataTimestamp_ set to:1761365243.646241
2025-10-25T04:07:23.648Z,1761365243.648 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.2

2025-10-25T04:07:23.649Z,1761365243.649 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-10-25T04:07:23.649Z,1761365243.649 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.626297
2025-10-25T04:07:23.877Z,1761365243.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847777,0.516826,-0.119016],[-0.529747,0.835931,-0.143486],[0.025332,0.184692,0.982470]]
2025-10-25T04:07:23.897Z,1761365243.897 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.874290
2025-10-25T04:07:23.935Z,1761365243.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504300 s,
      deltaX: 0.200000 m,
      approachRate: 0.396589 m/s,
      rangeRepo size: 4

2025-10-25T04:07:23.935Z,1761365243.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:24.153Z,1761365244.153 [DAT](INFO): DAT read: Rx Time:04:07:23.2170 

2025-10-25T04:07:24.153Z,1761365244.153 [DAT](INFO): Rx dataTimestamp_ set to:1761365244.152873
2025-10-25T04:07:24.154Z,1761365244.154 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-25T04:07:24.155Z,1761365244.155 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-10-25T04:07:24.156Z,1761365244.156 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=44.132656
2025-10-25T04:07:24.286Z,1761365244.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848831,0.514852,-0.120054],[-0.528024,0.836830,-0.144591],[0.026022,0.186125,0.982181]]
2025-10-25T04:07:24.315Z,1761365244.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.506632 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:24.316Z,1761365244.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:24.403Z,1761365244.403 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=44.379887
2025-10-25T04:07:24.654Z,1761365244.654 [DAT](INFO): DAT read: Rx Time:04:07:23.7171 

2025-10-25T04:07:24.654Z,1761365244.654 [DAT](INFO): Rx dataTimestamp_ set to:1761365244.653852
2025-10-25T04:07:24.655Z,1761365244.655 [DAT](INFO): DAT read: Range 10 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-25T04:07:24.656Z,1761365244.656 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-10-25T04:07:24.657Z,1761365244.657 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.633762
2025-10-25T04:07:24.686Z,1761365244.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849513,0.513774,-0.119850],[-0.526906,0.837633,-0.144015],[0.026399,0.185493,0.982291]]
2025-10-25T04:07:24.772Z,1761365244.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.500979 s,
      deltaX: 0.100000 m,
      approachRate: 0.199610 m/s,
      rangeRepo size: 4

2025-10-25T04:07:24.772Z,1761365244.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:24.906Z,1761365244.906 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.882874
2025-10-25T04:07:25.090Z,1761365245.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850234,0.512432,-0.120479],[-0.525707,0.838349,-0.144232],[0.027095,0.185967,0.982182]]
2025-10-25T04:07:25.109Z,1761365245.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:25.159Z,1761365245.159 [DAT](INFO): DAT read: Rx Time:04:07:24.2171 

2025-10-25T04:07:25.160Z,1761365245.160 [DAT](INFO): Rx dataTimestamp_ set to:1761365245.159652
2025-10-25T04:07:25.163Z,1761365245.163 [DAT](INFO): DAT read: Range 10 to 50 :    13.5 m (trip time 9.0 ms) speed 0.1

2025-10-25T04:07:25.165Z,1761365245.165 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-25T04:07:25.166Z,1761365245.166 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=45.142670
2025-10-25T04:07:25.410Z,1761365245.410 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=45.386349
2025-10-25T04:07:25.491Z,1761365245.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850723,0.511490,-0.121031],[-0.524886,0.838834,-0.144400],[0.027666,0.186372,0.982090]]
2025-10-25T04:07:25.538Z,1761365245.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.505800 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:25.538Z,1761365245.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:25.663Z,1761365245.663 [DAT](INFO): DAT read: Rx Time:04:07:24.7171 

2025-10-25T04:07:25.663Z,1761365245.663 [DAT](INFO): Rx dataTimestamp_ set to:1761365245.662886
2025-10-25T04:07:25.665Z,1761365245.665 [DAT](INFO): DAT read: Range 10 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-10-25T04:07:25.666Z,1761365245.666 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-10-25T04:07:25.668Z,1761365245.668 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.644299
2025-10-25T04:07:25.898Z,1761365245.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851605,0.509866,-0.121674],[-0.523423,0.839644,-0.145004],[0.028231,0.187173,0.981921]]
2025-10-25T04:07:25.914Z,1761365245.914 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.890541
2025-10-25T04:07:25.963Z,1761365245.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503234 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:25.964Z,1761365245.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:26.169Z,1761365246.169 [DAT](INFO): DAT read: Rx Time:04:07:25.2170 

2025-10-25T04:07:26.170Z,1761365246.170 [DAT](INFO): Rx dataTimestamp_ set to:1761365246.169399
2025-10-25T04:07:26.171Z,1761365246.171 [DAT](INFO): DAT read: Range 10 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-10-25T04:07:26.171Z,1761365246.171 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-25T04:07:26.173Z,1761365246.173 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=46.149185
2025-10-25T04:07:26.313Z,1761365246.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852303,0.508611,-0.122044],[-0.522264,0.840308,-0.145335],[0.028636,0.187608,0.981826]]
2025-10-25T04:07:26.342Z,1761365246.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.506513 s,
      deltaX: -0.100000 m,
      approachRate: -0.197429 m/s,
      rangeRepo size: 4

2025-10-25T04:07:26.342Z,1761365246.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:26.418Z,1761365246.418 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=46.394520
2025-10-25T04:07:26.670Z,1761365246.670 [DAT](INFO): DAT read: Rx Time:04:07:25.7172 

2025-10-25T04:07:26.671Z,1761365246.671 [DAT](INFO): Rx dataTimestamp_ set to:1761365246.670686
2025-10-25T04:07:26.672Z,1761365246.672 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed -0.2

2025-10-25T04:07:26.674Z,1761365246.674 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-25T04:07:26.675Z,1761365246.675 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.651501
2025-10-25T04:07:26.782Z,1761365246.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.501287 s,
      deltaX: 0.300000 m,
      approachRate: 0.598460 m/s,
      rangeRepo size: 4

2025-10-25T04:07:26.783Z,1761365246.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:26.922Z,1761365246.922 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.898361
2025-10-25T04:07:27.109Z,1761365247.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853207,0.506905,-0.122824],[-0.520728,0.841265,-0.145312],[0.029668,0.187939,0.981733]]
2025-10-25T04:07:27.150Z,1761365247.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:27.174Z,1761365247.174 [DAT](INFO): DAT read: Rx Time:04:07:26.2171 

2025-10-25T04:07:27.174Z,1761365247.174 [DAT](INFO): Rx dataTimestamp_ set to:1761365247.174012
2025-10-25T04:07:27.176Z,1761365247.176 [DAT](INFO): DAT read: Range 10 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-10-25T04:07:27.176Z,1761365247.176 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-25T04:07:27.178Z,1761365247.178 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=47.154835
2025-10-25T04:07:27.426Z,1761365247.426 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=47.402466
2025-10-25T04:07:27.516Z,1761365247.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853446,0.506468,-0.122965],[-0.520316,0.841564,-0.145054],[0.030017,0.187776,0.981753]]
2025-10-25T04:07:27.539Z,1761365247.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.503326 s,
      deltaX: -0.200000 m,
      approachRate: -0.397356 m/s,
      rangeRepo size: 4

2025-10-25T04:07:27.539Z,1761365247.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:27.679Z,1761365247.679 [DAT](INFO): DAT read: Rx Tim26.7173 

2025-10-25T04:07:27.679Z,1761365247.679 [DAT](INFO): unknown deviceResponse_: Rx Tim26.7173 

2025-10-25T04:07:27.681Z,1761365247.681 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-10-25T04:07:27.681Z,1761365247.681 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-10-25T04:07:27.682Z,1761365247.682 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.659138
2025-10-25T04:07:27.921Z,1761365247.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853835,0.505630,-0.123706],[-0.519635,0.841958,-0.145213],[0.030731,0.188269,0.981637]]
2025-10-25T04:07:27.930Z,1761365247.930 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.906612
2025-10-25T04:07:27.992Z,1761365247.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504284 s,
      deltaX: 0.300000 m,
      approachRate: 0.594903 m/s,
      rangeRepo size: 4

2025-10-25T04:07:28.005Z,1761365248.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:28.182Z,1761365248.182 [DAT](INFO): DAT read: Rx Time:04:07:27.2172 

2025-10-25T04:07:28.182Z,1761365248.182 [DAT](INFO): Rx dataTimestamp_ set to:1761365248.182002
2025-10-25T04:07:28.183Z,1761365248.183 [DAT](INFO): DAT read: Range 10 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-10-25T04:07:28.184Z,1761365248.184 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-25T04:07:28.185Z,1761365248.185 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=48.161942
2025-10-25T04:07:28.328Z,1761365248.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854081,0.505129,-0.124055],[-0.519215,0.842177,-0.145443],[0.031009,0.188632,0.981558]]
2025-10-25T04:07:28.349Z,1761365248.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.503706 s,
      deltaX: -0.100000 m,
      approachRate: -0.198529 m/s,
      rangeRepo size: 4

2025-10-25T04:07:28.350Z,1761365248.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:28.435Z,1761365248.435 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=48.411201
2025-10-25T04:07:28.686Z,1761365248.686 [DAT](INFO): DAT read: Rx Time:04:07:27.7173 

2025-10-25T04:07:28.687Z,1761365248.687 [DAT](INFO): Rx dataTimestamp_ set to:1761365248.686521
2025-10-25T04:07:28.688Z,1761365248.688 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-10-25T04:07:28.689Z,1761365248.689 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-25T04:07:28.690Z,1761365248.690 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.666424
2025-10-25T04:07:28.750Z,1761365248.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854289,0.504520,-0.125101],[-0.518845,0.842228,-0.146464],[0.031469,0.190030,0.981274]]
2025-10-25T04:07:28.798Z,1761365248.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504519 s,
      deltaX: 0.100000 m,
      approachRate: 0.198209 m/s,
      rangeRepo size: 4

2025-10-25T04:07:28.798Z,1761365248.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:28.938Z,1761365248.938 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.914700
2025-10-25T04:07:29.135Z,1761365249.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854486,0.504054,-0.125626],[-0.518492,0.842420,-0.146614],[0.031929,0.190416,0.981184]]
2025-10-25T04:07:29.162Z,1761365249.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:29.190Z,1761365249.190 [DAT](INFO): DAT read: Rx Time:04:07:28.2174 

2025-10-25T04:07:29.190Z,1761365249.190 [DAT](INFO): Rx dataTimestamp_ set to:1761365249.189802
2025-10-25T04:07:29.192Z,1761365249.192 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-25T04:07:29.193Z,1761365249.193 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-25T04:07:29.195Z,1761365249.195 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=49.171471
2025-10-25T04:07:29.445Z,1761365249.445 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=49.420959
2025-10-25T04:07:29.538Z,1761365249.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854696,0.503546,-0.126238],[-0.518110,0.842639,-0.146703],[0.032501,0.190792,0.981092]]
2025-10-25T04:07:29.578Z,1761365249.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.503281 s,
      deltaX: 0.200000 m,
      approachRate: 0.397392 m/s,
      rangeRepo size: 4

2025-10-25T04:07:29.580Z,1761365249.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:29.699Z,1761365249.699 [DAT](INFO): DAT read: Rx Time:04:07:28.7174 

2025-10-25T04:07:29.701Z,1761365249.701 [DAT](INFO): Rx dataTimestamp_ set to:1761365249.699637
2025-10-25T04:07:29.703Z,1761365249.703 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-10-25T04:07:29.704Z,1761365249.704 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-25T04:07:29.706Z,1761365249.706 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.682556
2025-10-25T04:07:29.951Z,1761365249.951 [DAT](INFO): DAT read: Rx Time:04:07:29.2173 

2025-10-25T04:07:29.953Z,1761365249.953 [DAT](INFO): Rx dataTimestamp_ set to:1761365249.951516
2025-10-25T04:07:29.955Z,1761365249.955 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.931252
2025-10-25T04:07:29.962Z,1761365249.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854581,0.503659,-0.126570],[-0.518273,0.842602,-0.146341],[0.032942,0.190658,0.981104]]
2025-10-25T04:07:30.020Z,1761365250.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.509835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:30.020Z,1761365250.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:30.198Z,1761365250.198 [DAT](INFO): DAT read: Range 10 to 50 :    13.8 m (trip time 9.2 ms) speed -0.2

2025-10-25T04:07:30.199Z,1761365250.199 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-25T04:07:30.200Z,1761365250.200 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=50.176540
2025-10-25T04:07:30.346Z,1761365250.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854381,0.503874,-0.127061],[-0.518565,0.842494,-0.145923],[0.033521,0.190563,0.981102]]
2025-10-25T04:07:30.372Z,1761365250.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.497308 s,
      deltaX: -0.200000 m,
      approachRate: -0.402165 m/s,
      rangeRepo size: 4

2025-10-25T04:07:30.373Z,1761365250.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:30.454Z,1761365250.454 [DAT](INFO): DAT read: Rx Time:04:07:29.7175 

2025-10-25T04:07:30.455Z,1761365250.455 [DAT](INFO): Rx dataTimestamp_ set to:1761365250.454486
2025-10-25T04:07:30.457Z,1761365250.457 [DAT](INFO): DAT read: Range 10 to 50 :    14.1 m (trip time 9.4 ms) speed -0.2

2025-10-25T04:07:30.457Z,1761365250.457 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-25T04:07:30.458Z,1761365250.458 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.435036
2025-10-25T04:07:30.703Z,1761365250.703 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.679714
2025-10-25T04:07:30.754Z,1761365250.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854005,0.504407,-0.127474],[-0.519147,0.842246,-0.145286],[0.034081,0.190253,0.981143]]
2025-10-25T04:07:30.825Z,1761365250.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.257541 s,
      deltaX: 0.300000 m,
      approachRate: 1.164864 m/s,
      rangeRepo size: 4

2025-10-25T04:07:30.826Z,1761365250.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:30.956Z,1761365250.956 [DAT](INFO): DAT read: Rx Time:04:07:30.2174 

2025-10-25T04:07:30.956Z,1761365250.956 [DAT](INFO): Rx dataTimestamp_ set to:1761365250.955750
2025-10-25T04:07:30.957Z,1761365250.957 [DAT](INFO): DAT read: Range 10 to 50 :    14.0 m (trip time 9.3 ms) speed -0.1

2025-10-25T04:07:30.958Z,1761365250.958 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-25T04:07:30.959Z,1761365250.959 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.935715
2025-10-25T04:07:31.156Z,1761365251.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853501,0.505172,-0.127821],[-0.519946,0.841861,-0.144656],[0.034531,0.189924,0.981191]]
2025-10-25T04:07:31.176Z,1761365251.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.501264 s,
      deltaX: -0.100000 m,
      approachRate: -0.199496 m/s,
      rangeRepo size: 4

2025-10-25T04:07:31.176Z,1761365251.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:31.206Z,1761365251.206 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=51.182392
2025-10-25T04:07:31.458Z,1761365251.458 [DAT](INFO): DAT read: Rx Time:04:07:30.7176 

2025-10-25T04:07:31.458Z,1761365251.458 [DAT](INFO): Rx dataTimestamp_ set to:1761365251.458140
2025-10-25T04:07:31.460Z,1761365251.460 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed -0.3

2025-10-25T04:07:31.461Z,1761365251.461 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-25T04:07:31.462Z,1761365251.462 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.438957
2025-10-25T04:07:31.563Z,1761365251.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852838,0.506051,-0.128762],[-0.520997,0.841194,-0.144756],[0.035059,0.190538,0.981054]]
2025-10-25T04:07:31.609Z,1761365251.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.502390 s,
      deltaX: 0.300000 m,
      approachRate: 0.597146 m/s,
      rangeRepo size: 4

2025-10-25T04:07:31.611Z,1761365251.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:31.717Z,1761365251.717 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.692638
2025-10-25T04:07:31.962Z,1761365251.962 [DAT](INFO): DAT read: Rx Time:04:07:31.2175 

2025-10-25T04:07:31.963Z,1761365251.963 [DAT](INFO): Rx dataTimestamp_ set to:1761365251.962528
2025-10-25T04:07:31.964Z,1761365251.964 [DAT](INFO): DAT read: Range 10 to 50 :    14.1 m (trip time 9.4 ms) speed -0.1

2025-10-25T04:07:31.965Z,1761365251.965 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-25T04:07:31.966Z,1761365251.966 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.942509
2025-10-25T04:07:32.078Z,1761365252.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.504388 s,
      deltaX: -0.200000 m,
      approachRate: -0.396520 m/s,
      rangeRepo size: 4

2025-10-25T04:07:32.079Z,1761365252.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:32.213Z,1761365252.213 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=52.190300
2025-10-25T04:07:32.367Z,1761365252.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851588,0.507889,-0.129791],[-0.522969,0.840152,-0.143694],[0.036063,0.190245,0.981074]]
2025-10-25T04:07:32.387Z,1761365252.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:32.466Z,1761365252.466 [DAT](INFO): DAT read: Rx Time:04:07:31.7177 

2025-10-25T04:07:32.466Z,1761365252.466 [DAT](INFO): Rx dataTimestamp_ set to:1761365252.466019
2025-10-25T04:07:32.467Z,1761365252.467 [DAT](INFO): DAT read: Rao 50 :    14.4 m (trip  ms) speed -0.2

2025-10-25T04:07:32.468Z,1761365252.468 [DAT](INFO): unknown deviceResponse_: Rao 50 :    14.4 m (trip  ms) speed -0.2

2025-10-25T04:07:32.468Z,1761365252.468 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=52.445038
2025-10-25T04:07:32.721Z,1761365252.721 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=52.696667
2025-10-25T04:07:32.781Z,1761365252.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850845,0.509002,-0.130305],[-0.524142,0.839526,-0.143078],[0.036567,0.190036,0.981096]]
2025-10-25T04:07:32.840Z,1761365252.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:32.970Z,1761365252.970 [DAT](INFO): DAT read: Rx Time:04:07:32.2177 

2025-10-25T04:07:32.970Z,1761365252.970 [DAT](INFO): Rx dataTimestamp_ set to:1761365252.969851
2025-10-25T04:07:32.971Z,1761365252.971 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-10-25T04:07:32.972Z,1761365252.972 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-25T04:07:32.973Z,1761365252.973 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.949844
2025-10-25T04:07:33.172Z,1761365253.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850404,0.509613,-0.130798],[-0.524830,0.839140,-0.142821],[0.036974,0.190102,0.981068]]
2025-10-25T04:07:33.204Z,1761365253.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 1.007323 s,
      deltaX: 0.299999 m,
      approachRate: 0.297818 m/s,
      rangeRepo size: 4

2025-10-25T04:07:33.205Z,1761365253.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:33.224Z,1761365253.224 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=53.200825
2025-10-25T04:07:33.474Z,1761365253.474 [DAT](INFO): DAT read: Rx Time:04:07:32.7178 

2025-10-25T04:07:33.474Z,1761365253.474 [DAT](INFO): Rx dataTimestamp_ set to:1761365253.473941
2025-10-25T04:07:33.475Z,1761365253.475 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-10-25T04:07:33.476Z,1761365253.476 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-10-25T04:07:33.478Z,1761365253.478 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=53.454842
2025-10-25T04:07:33.580Z,1761365253.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849902,0.510337,-0.131234],[-0.525620,0.838685,-0.142591],[0.037295,0.190168,0.981043]]
2025-10-25T04:07:33.729Z,1761365253.729 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=53.705257
2025-10-25T04:07:33.738Z,1761365253.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504090 s,
      deltaX: 0.200001 m,
      approachRate: 0.396756 m/s,
      rangeRepo size: 4

2025-10-25T04:07:33.746Z,1761365253.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:33.978Z,1761365253.978 [DAT](INFO): DAT read: Rx Time:04:07:33.2178 

2025-10-25T04:07:33.979Z,1761365253.979 [DAT](INFO): Rx dataTimestamp_ set to:1761365253.978781
2025-10-25T04:07:33.980Z,1761365253.980 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed -0.2

2025-10-25T04:07:33.981Z,1761365253.981 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-25T04:07:33.982Z,1761365253.982 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.958782
2025-10-25T04:07:34.032Z,1761365254.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849585,0.510739,-0.131725],[-0.526111,0.838372,-0.142619],[0.037593,0.190468,0.980973]]
2025-10-25T04:07:34.116Z,1761365254.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504840 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:34.125Z,1761365254.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:34.230Z,1761365254.230 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=54.207268
2025-10-25T04:07:34.431Z,1761365254.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849245,0.511177,-0.132217],[-0.526636,0.838049,-0.142579],[0.037921,0.190714,0.980913]]
2025-10-25T04:07:34.483Z,1761365254.483 [DAT](INFO): DAT read: Rx Time:04:07:33.7180 

2025-10-25T04:07:34.484Z,1761365254.484 [DAT](INFO): Rx dataTimestamp_ set to:1761365254.483529
2025-10-25T04:07:34.485Z,1761365254.485 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed -0.3

2025-10-25T04:07:34.486Z,1761365254.486 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-10-25T04:07:34.487Z,1761365254.487 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=54.463692
2025-10-25T04:07:34.504Z,1761365254.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504748 s,
      deltaX: 0.299999 m,
      approachRate: 0.594355 m/s,
      rangeRepo size: 4

2025-10-25T04:07:34.504Z,1761365254.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:34.736Z,1761365254.736 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=54.712334
2025-10-25T04:07:34.825Z,1761365254.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848979,0.511560,-0.132446],[-0.527058,0.837782,-0.142588],[0.038018,0.190861,0.980881]]
2025-10-25T04:07:34.878Z,1761365254.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:34.986Z,1761365254.986 [DAT](INFO): DAT read: Rx Time:04:07:34.2180 

2025-10-25T04:07:34.986Z,1761365254.986 [DAT](INFO): Rx dataTimestamp_ set to:1761365254.985946
2025-10-25T04:07:34.987Z,1761365254.987 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed -0.1

2025-10-25T04:07:34.988Z,1761365254.988 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-25T04:07:34.989Z,1761365254.989 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.965961
2025-10-25T04:07:35.232Z,1761365255.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849023,0.511374,-0.132878],[-0.526980,0.837737,-0.143142],[0.038118,0.191555,0.980741]]
2025-10-25T04:07:35.238Z,1761365255.238 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=55.214470
2025-10-25T04:07:35.254Z,1761365255.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.502417 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:35.254Z,1761365255.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:35.490Z,1761365255.490 [DAT](INFO): DAT read: Rx Time:04:07:34.7181 

2025-10-25T04:07:35.490Z,1761365255.490 [DAT](INFO): Rx dataTimestamp_ set to:1761365255.490124
2025-10-25T04:07:35.492Z,1761365255.492 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-10-25T04:07:35.493Z,1761365255.493 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-10-25T04:07:35.495Z,1761365255.495 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=55.471268
2025-10-25T04:07:35.638Z,1761365255.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848916,0.511472,-0.133185],[-0.527150,0.837563,-0.143529],[0.038140,0.192053,0.980643]]
2025-10-25T04:07:35.667Z,1761365255.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504178 s,
      deltaX: 0.100000 m,
      approachRate: 0.198343 m/s,
      rangeRepo size: 4

2025-10-25T04:07:35.667Z,1761365255.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:35.746Z,1761365255.746 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=55.722153
2025-10-25T04:07:35.995Z,1761365255.995 [DAT](INFO): DAT read: Rx Time:04:07:35.2181 

2025-10-25T04:07:35.995Z,1761365255.995 [DAT](INFO): Rx dataTimestamp_ set to:1761365255.994723
2025-10-25T04:07:35.996Z,1761365255.996 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.2

2025-10-25T04:07:35.997Z,1761365255.997 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-25T04:07:35.998Z,1761365255.998 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.974693
2025-10-25T04:07:36.052Z,1761365256.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849111,0.511111,-0.133328],[-0.526848,0.837635,-0.144216],[0.037970,0.192699,0.980523]]
2025-10-25T04:07:36.098Z,1761365256.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504599 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:36.098Z,1761365256.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:36.246Z,1761365256.246 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=56.222923
2025-10-25T04:07:36.498Z,1761365256.498 [DAT](INFO): DAT read: Rx Time:04:07:35.7183 

2025-10-25T04:07:36.498Z,1761365256.498 [DAT](INFO): Rx dataTimestamp_ set to:1761365256.498074
2025-10-25T04:07:36.500Z,1761365256.500 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-25T04:07:36.500Z,1761365256.500 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-25T04:07:36.501Z,1761365256.501 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=56.478039
2025-10-25T04:07:36.515Z,1761365256.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503351 s,
      deltaX: 0.300000 m,
      approachRate: 0.596006 m/s,
      rangeRepo size: 4

2025-10-25T04:07:36.515Z,1761365256.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:36.755Z,1761365256.755 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=56.731014
2025-10-25T04:07:36.900Z,1761365256.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:37.007Z,1761365257.007 [DAT](INFO): DAT read: Rx Time:04:07:36.2182 

2025-10-25T04:07:37.007Z,1761365257.007 [DAT](INFO): Rx dataTimestamp_ set to:1761365257.007102
2025-10-25T04:07:37.009Z,1761365257.009 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:07:37.009Z,1761365257.009 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-10-25T04:07:37.011Z,1761365257.011 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.987755
2025-10-25T04:07:37.254Z,1761365257.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850149,0.509664,-0.132246],[-0.525303,0.838181,-0.146661],[0.036098,0.194153,0.980307]]
2025-10-25T04:07:37.258Z,1761365257.258 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=57.234528
2025-10-25T04:07:37.304Z,1761365257.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.509028 s,
      deltaX: -0.100000 m,
      approachRate: -0.196454 m/s,
      rangeRepo size: 4

2025-10-25T04:07:37.309Z,1761365257.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m.
2025-10-25T04:07:37.511Z,1761365257.511 [DAT](INFO): DAT read: Rx Time:04:07:36.7184 

2025-10-25T04:07:37.512Z,1761365257.512 [DAT](INFO): Rx dataTimestamp_ set to:1761365257.511532
2025-10-25T04:07:37.513Z,1761365257.513 [DAT](INFO): DAT read: Bearing 165.9,  12.4 (Local)

2025-10-25T04:07:37.514Z,1761365257.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.9,  12.4 (Local)

2025-10-25T04:07:37.516Z,1761365257.516 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.1

2025-10-25T04:07:37.521Z,1761365257.521 [DAT](INFO): DAT read: 04:07:36.7184 LVL= 25888, 32753, 22322, 32755, AGC= 63, IDX= 512,-0.34, 2.964,-1.471, 2.529,-3.123, PHS=-0.108, 1.699,-0.634, RAW= 342.4,  -9.1, CAL= 344.1, -12.4, ROT= 165.9,  12.4

2025-10-25T04:07:37.522Z,1761365257.522 [DAT](INFO): got valid direction response:
 04:07:36.7184 LVL= 25888, 32753, 22322, 32755, AGC= 63, IDX= 512,-0.34, 2.964,-1.471, 2.529,-3.123, PHS=-0.108, 1.699,-0.634, RAW= 342.4,  -9.1, CAL= 344.1, -12.4, ROT= 165.9,  12.4

2025-10-25T04:07:37.522Z,1761365257.522 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-25T04:07:37.523Z,1761365257.523 [DAT](INFO): direction in FSK: [-0.947247,0.237932,-0.214735]
2025-10-25T04:07:37.524Z,1761365257.524 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:37.530Z,1761365257.530 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=57.505241
2025-10-25T04:07:37.662Z,1761365257.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850607,0.509091,-0.131506],[-0.524619,0.838489,-0.147346],[0.035253,0.194324,0.980304]]
2025-10-25T04:07:37.705Z,1761365257.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504430 s,
      deltaX: 0.300000 m,
      approachRate: 0.594731 m/s,
      rangeRepo size: 4

2025-10-25T04:07:37.707Z,1761365257.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.426440 m,
      bearing: 132.034482 deg,
      lat: 36.779460 deg,
      lon: -121.859725 deg,
      deltaT: 17.897063 s,
      deltaX: 2.985700 m,
      approachRate: 0.166826 m/s,
      posRepo size: 4

2025-10-25T04:07:37.707Z,1761365257.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:37.765Z,1761365257.765 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=57.741211
2025-10-25T04:07:38.014Z,1761365258.014 [DAT](INFO): DAT read: Rx Time:04:07:37.2183 

2025-10-25T04:07:38.014Z,1761365258.014 [DAT](INFO): Rx dataTimestamp_ set to:1761365258.014001
2025-10-25T04:07:38.016Z,1761365258.016 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-25T04:07:38.016Z,1761365258.016 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-25T04:07:38.017Z,1761365258.017 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.993973
2025-10-25T04:07:38.071Z,1761365258.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851240,0.508190,-0.130895],[-0.523645,0.838927,-0.148313],[0.034441,0.194792,0.980240]]
2025-10-25T04:07:38.147Z,1761365258.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.502469 s,
      deltaX: -0.200000 m,
      approachRate: -0.398034 m/s,
      rangeRepo size: 4

2025-10-25T04:07:38.147Z,1761365258.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:38.266Z,1761365258.266 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=58.242622
2025-10-25T04:07:38.507Z,1761365258.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:38.518Z,1761365258.518 [DAT](INFO): DAT read: Rx Time:04:07:37.7184 

2025-10-25T04:07:38.518Z,1761365258.518 [DAT](INFO): Rx dataTimestamp_ set to:1761365258.517972
2025-10-25T04:07:38.519Z,1761365258.519 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-25T04:07:38.520Z,1761365258.520 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-25T04:07:38.521Z,1761365258.521 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=58.497955
2025-10-25T04:07:38.772Z,1761365258.772 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=58.748062
2025-10-25T04:07:38.866Z,1761365258.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852713,0.506028,-0.129676],[-0.521351,0.839965,-0.150508],[0.032762,0.195946,0.980067]]
2025-10-25T04:07:38.905Z,1761365258.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503971 s,
      deltaX: 0.200000 m,
      approachRate: 0.396848 m/s,
      rangeRepo size: 4

2025-10-25T04:07:38.906Z,1761365258.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:39.022Z,1761365259.022 [DAT](INFO): DAT read: Rx Time:04:07:38.2183 

2025-10-25T04:07:39.022Z,1761365259.022 [DAT](INFO): Rx dataTimestamp_ set to:1761365259.021949
2025-10-25T04:07:39.024Z,1761365259.024 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.1

2025-10-25T04:07:39.025Z,1761365259.025 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-25T04:07:39.027Z,1761365259.027 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=59.003014
2025-10-25T04:07:39.268Z,1761365259.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853408,0.505101,-0.128715],[-0.520274,0.840494,-0.151275],[0.031775,0.196066,0.980076]]
2025-10-25T04:07:39.274Z,1761365259.274 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=59.251114
2025-10-25T04:07:39.328Z,1761365259.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503977 s,
      deltaX: -0.200000 m,
      approachRate: -0.396843 m/s,
      rangeRepo size: 4

2025-10-25T04:07:39.328Z,1761365259.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:39.526Z,1761365259.526 [DAT](INFO): DAT read: Rx Time:04:07:38.7183 

2025-10-25T04:07:39.526Z,1761365259.526 [DAT](INFO): Rx dataTimestamp_ set to:1761365259.525868
2025-10-25T04:07:39.528Z,1761365259.528 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:39.529Z,1761365259.529 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-25T04:07:39.530Z,1761365259.530 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=59.506538
2025-10-25T04:07:39.672Z,1761365259.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853929,0.504460,-0.127776],[-0.519473,0.840900,-0.151774],[0.030883,0.195980,0.980121]]
2025-10-25T04:07:39.711Z,1761365259.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503919 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:39.711Z,1761365259.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:39.778Z,1761365259.778 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=59.755180
2025-10-25T04:07:40.030Z,1761365260.030 [DAT](INFO): DAT read: Rx Time:04:07:39.2182 

2025-10-25T04:07:40.030Z,1761365260.030 [DAT](INFO): Rx dataTimestamp_ set to:1761365260.029954
2025-10-25T04:07:40.031Z,1761365260.031 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:07:40.032Z,1761365260.032 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-25T04:07:40.033Z,1761365260.033 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=60.009911
2025-10-25T04:07:40.093Z,1761365260.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854644,0.503524,-0.126674],[-0.518351,0.841499,-0.152289],[0.029915,0.195815,0.980185]]
2025-10-25T04:07:40.162Z,1761365260.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504086 s,
      deltaX: -0.100000 m,
      approachRate: -0.198380 m/s,
      rangeRepo size: 4

2025-10-25T04:07:40.162Z,1761365260.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:40.282Z,1761365260.282 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=60.259277
2025-10-25T04:07:40.516Z,1761365260.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:40.536Z,1761365260.536 [DAT](INFO): DAT read: Rx Time:04:07:39.7184 

2025-10-25T04:07:40.536Z,1761365260.536 [DAT](INFO): Rx dataTimestamp_ set to:1761365260.536101
2025-10-25T04:07:40.538Z,1761365260.538 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-25T04:07:40.538Z,1761365260.538 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-25T04:07:40.539Z,1761365260.539 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=60.516079
2025-10-25T04:07:40.788Z,1761365260.788 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=60.764275
2025-10-25T04:07:40.898Z,1761365260.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856158,0.501303,-0.125252],[-0.515922,0.842766,-0.153528],[0.028594,0.196065,0.980174]]
2025-10-25T04:07:40.987Z,1761365260.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.506147 s,
      deltaX: 0.300000 m,
      approachRate: 0.592714 m/s,
      rangeRepo size: 4

2025-10-25T04:07:40.988Z,1761365260.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:41.038Z,1761365261.038 [DAT](INFO): DAT read: Rx Time:04:07:40.2183 

2025-10-25T04:07:41.038Z,1761365261.038 [DAT](INFO): Rx dataTimestamp_ set to:1761365261.038082
2025-10-25T04:07:41.040Z,1761365261.040 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:07:41.040Z,1761365261.040 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-25T04:07:41.041Z,1761365261.041 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=61.018063
2025-10-25T04:07:41.290Z,1761365261.290 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=61.266815
2025-10-25T04:07:41.297Z,1761365261.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856890,0.500262,-0.124406],[-0.514750,0.843362,-0.154187],[0.027785,0.196160,0.980178]]
2025-10-25T04:07:41.335Z,1761365261.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.501981 s,
      deltaX: -0.200000 m,
      approachRate: -0.398421 m/s,
      rangeRepo size: 4

2025-10-25T04:07:41.335Z,1761365261.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:41.542Z,1761365261.542 [DAT](INFO): DAT read: Rx Time:04:07:40.7184 

2025-10-25T04:07:41.543Z,1761365261.543 [DAT](INFO): Rx dataTimestamp_ set to:1761365261.542320
2025-10-25T04:07:41.545Z,1761365261.545 [DAT](INFO): DAT read: Bearing 176.8,  13.6 (Local)

2025-10-25T04:07:41.545Z,1761365261.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.8,  13.6 (Local)

2025-10-25T04:07:41.547Z,1761365261.547 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:07:41.552Z,1761365261.552 [DAT](INFO): DAT read: 04:07:40.7184 LVL= 24304, 29025, 22834, 32755, AGC= 64, IDX= 512,-0.07,-2.104,-0.200,-2.019,-1.708, PHS=-0.308, 1.555,-0.314, RAW= 330.2, -10.0, CAL= 333.2, -13.6, ROT= 176.8,  13.6

2025-10-25T04:07:41.553Z,1761365261.553 [DAT](INFO): got valid direction response:
 04:07:40.7184 LVL= 24304, 29025, 22834, 32755, AGC= 64, IDX= 512,-0.07,-2.104,-0.200,-2.019,-1.708, PHS=-0.308, 1.555,-0.314, RAW= 330.2, -10.0, CAL= 333.2, -13.6, ROT= 176.8,  13.6

2025-10-25T04:07:41.554Z,1761365261.554 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-10-25T04:07:41.555Z,1761365261.555 [DAT](INFO): direction in FSK: [-0.970445,0.054256,-0.235142]
2025-10-25T04:07:41.555Z,1761365261.555 [DAT](INFO): publishing direction and range info
2025-10-25T04:07:41.559Z,1761365261.559 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=61.535416
2025-10-25T04:07:41.693Z,1761365261.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857346,0.499524,-0.124234],[-0.514002,0.843738,-0.154627],[0.027581,0.196425,0.980131]]
2025-10-25T04:07:41.745Z,1761365261.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504238 s,
      deltaX: 0.200000 m,
      approachRate: 0.396638 m/s,
      rangeRepo size: 4

2025-10-25T04:07:41.747Z,1761365261.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.426455 m,
      bearing: 143.168956 deg,
      lat: 36.779460 deg,
      lon: -121.859725 deg,
      deltaT: 4.030788 s,
      deltaX: 0.000014 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-10-25T04:07:41.748Z,1761365261.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:41.794Z,1761365261.794 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=61.770611
2025-10-25T04:07:42.046Z,1761365262.046 [DAT](INFO): DAT read: Rx Time:04:07:41.2183 

2025-10-25T04:07:42.046Z,1761365262.046 [DAT](INFO): Rx dataTimestamp_ set to:1761365262.045817
2025-10-25T04:07:42.047Z,1761365262.047 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:42.048Z,1761365262.048 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-10-25T04:07:42.049Z,1761365262.049 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.025768
2025-10-25T04:07:42.112Z,1761365262.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857658,0.499054,-0.123967],[-0.513494,0.843993,-0.154916],[0.027316,0.196521,0.980119]]
2025-10-25T04:07:42.191Z,1761365262.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503497 s,
      deltaX: -0.200000 m,
      approachRate: -0.397221 m/s,
      rangeRepo size: 4

2025-10-25T04:07:42.192Z,1761365262.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:42.299Z,1761365262.299 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.275856
2025-10-25T04:07:42.501Z,1761365262.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857978,0.498457,-0.124154],[-0.512957,0.844231,-0.155400],[0.027355,0.197015,0.980019]]
2025-10-25T04:07:42.537Z,1761365262.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:42.550Z,1761365262.550 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.526562
2025-10-25T04:07:42.802Z,1761365262.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:07:42.803Z,1761365262.803 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-10-25T04:07:42.903Z,1761365262.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857907,0.498542,-0.124301],[-0.513064,0.844203,-0.155195],[0.027564,0.196917,0.980033]]
2025-10-25T04:07:42.962Z,1761365262.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:43.054Z,1761365263.054 [DAT](INFO): DAT read: user:343>

2025-10-25T04:07:43.055Z,1761365263.055 [DAT](INFO): DAT read: Tx time:04:07:42.5280

2025-10-25T04:07:43.055Z,1761365263.055 [DAT](INFO): Ping request sent.
2025-10-25T04:07:43.055Z,1761365263.055 [DAT](INFO): transmitted an acoustic signal
2025-10-25T04:07:43.055Z,1761365263.055 [DAT](INFO): publishing transmit ping time
2025-10-25T04:07:43.056Z,1761365263.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-10-25T04:07:43.307Z,1761365263.307 [DAT](INFO): DAT read: TxSync time:04:07:42.5272

2025-10-25T04:07:43.308Z,1761365263.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252681
2025-10-25T04:07:43.362Z,1761365263.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:43.561Z,1761365263.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506524
2025-10-25T04:07:43.715Z,1761365263.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857252,0.501382,-0.117198],[-0.514033,0.846533,-0.138393],[0.029824,0.178881,0.983419]]
2025-10-25T04:07:43.734Z,1761365263.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:43.811Z,1761365263.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756147
2025-10-25T04:07:44.062Z,1761365264.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006679
2025-10-25T04:07:44.116Z,1761365264.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857304,0.500813,-0.119234],[-0.513902,0.846278,-0.140420],[0.030581,0.181657,0.982886]]
2025-10-25T04:07:44.167Z,1761365264.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:44.314Z,1761365264.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258615
2025-10-25T04:07:44.520Z,1761365264.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857394,0.500187,-0.121197],[-0.513731,0.845927,-0.143137],[0.030929,0.184988,0.982254]]
2025-10-25T04:07:44.559Z,1761365264.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:44.566Z,1761365264.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510667
2025-10-25T04:07:44.818Z,1761365264.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762611
2025-10-25T04:07:44.926Z,1761365264.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858655,0.497664,-0.122647],[-0.511626,0.846597,-0.146674],[0.030838,0.188692,0.981552]]
2025-10-25T04:07:44.987Z,1761365264.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:45.070Z,1761365265.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015017
2025-10-25T04:07:45.322Z,1761365265.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266649
2025-10-25T04:07:45.332Z,1761365265.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859583,0.495569,-0.124613],[-0.510028,0.847060,-0.149535],[0.031450,0.192094,0.980873]]
2025-10-25T04:07:45.352Z,1761365265.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:45.574Z,1761365265.574 [DAT](INFO): DAT read: Rx Time:04:07:44.6772 

2025-10-25T04:07:45.574Z,1761365265.574 [DAT](INFO): Rx dataTimestamp_ set to:1761365265.573973
2025-10-25T04:07:45.575Z,1761365265.575 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:07:45.577Z,1761365265.577 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-10-25T04:07:45.578Z,1761365265.578 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.523429
2025-10-25T04:07:45.732Z,1761365265.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859432,0.495436,-0.126174],[-0.510237,0.846726,-0.150710],[0.032168,0.193903,0.980493]]
2025-10-25T04:07:45.771Z,1761365265.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 3.528156 s,
      deltaX: -0.300000 m,
      approachRate: -0.085030 m/s,
      rangeRepo size: 4

2025-10-25T04:07:45.772Z,1761365265.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:45.787Z,1761365265.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:07:45.826Z,1761365265.826 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771334
2025-10-25T04:07:46.078Z,1761365266.078 [DAT](INFO): DAT read: Rx Time:04:07:45.1772 

2025-10-25T04:07:46.079Z,1761365266.079 [DAT](INFO): Rx dataTimestamp_ set to:1761365266.078336
2025-10-25T04:07:46.080Z,1761365266.080 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.4

2025-10-25T04:07:46.081Z,1761365266.081 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-10-25T04:07:46.081Z,1761365266.081 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.026501
2025-10-25T04:07:46.197Z,1761365266.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504363 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:46.197Z,1761365266.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:46.330Z,1761365266.330 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274699
2025-10-25T04:07:46.540Z,1761365266.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858353,0.496626,-0.128812],[-0.511945,0.845595,-0.151263],[0.033802,0.195782,0.980065]]
2025-10-25T04:07:46.561Z,1761365266.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:46.583Z,1761365266.583 [DAT](INFO): DAT read: Rx Time:04:07:45.6771 

2025-10-25T04:07:46.584Z,1761365266.584 [DAT](INFO): Rx dataTimestamp_ set to:1761365266.583518
2025-10-25T04:07:46.586Z,1761365266.586 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:07:46.587Z,1761365266.587 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-10-25T04:07:46.589Z,1761365266.589 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533476
2025-10-25T04:07:46.789Z,1761365266.789 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:07:46.833Z,1761365266.833 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778490
2025-10-25T04:07:46.955Z,1761365266.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857542,0.497634,-0.130318],[-0.513226,0.844863,-0.151018],[0.034949,0.196387,0.979904]]
2025-10-25T04:07:47.030Z,1761365267.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.505182 s,
      deltaX: -0.100000 m,
      approachRate: -0.197949 m/s,
      rangeRepo size: 4

2025-10-25T04:07:47.031Z,1761365267.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:47.087Z,1761365267.087 [DAT](INFO): DAT read: Rx Time:04:07:46.1771 

2025-10-25T04:07:47.088Z,1761365267.088 [DAT](INFO): Rx dataTimestamp_ set to:1761365267.087025
2025-10-25T04:07:47.090Z,1761365267.090 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:07:47.091Z,1761365267.091 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-10-25T04:07:47.092Z,1761365267.092 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.036796
2025-10-25T04:07:47.338Z,1761365267.338 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282563
2025-10-25T04:07:47.351Z,1761365267.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856492,0.499195,-0.131248],[-0.514916,0.843992,-0.150130],[0.035828,0.196167,0.979916]]
2025-10-25T04:07:47.392Z,1761365267.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503507 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:47.392Z,1761365267.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:47.590Z,1761365267.590 [DAT](INFO): DAT read: Rx Time:04:07:46.6771 

2025-10-25T04:07:47.590Z,1761365267.590 [DAT](INFO): Rx dataTimestamp_ set to:1761365267.589841
2025-10-25T04:07:47.591Z,1761365267.591 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:07:47.592Z,1761365267.592 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-10-25T04:07:47.593Z,1761365267.593 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.538234
2025-10-25T04:07:47.754Z,1761365267.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855556,0.500526,-0.132278],[-0.516399,0.843235,-0.149288],[0.036819,0.196032,0.979906]]
2025-10-25T04:07:47.774Z,1761365267.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.502816 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:47.774Z,1761365267.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:47.843Z,1761365267.843 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788001
2025-10-25T04:07:48.095Z,1761365268.095 [DAT](INFO): DAT read: Rx Time:04:07:47.1772 

2025-10-25T04:07:48.095Z,1761365268.095 [DAT](INFO): Rx dataTimestamp_ set to:1761365268.094795
2025-10-25T04:07:48.096Z,1761365268.096 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:07:48.097Z,1761365268.097 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-10-25T04:07:48.098Z,1761365268.098 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.042994
2025-10-25T04:07:48.156Z,1761365268.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854853,0.501477,-0.133217],[-0.517499,0.842667,-0.148684],[0.037696,0.196042,0.979871]]
2025-10-25T04:07:48.204Z,1761365268.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504954 s,
      deltaX: 0.100000 m,
      approachRate: 0.198039 m/s,
      rangeRepo size: 4

2025-10-25T04:07:48.204Z,1761365268.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:48.346Z,1761365268.346 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290662
2025-10-25T04:07:48.598Z,1761365268.598 [DAT](INFO): DAT read: Rx Time:04:07:47.6772 

2025-10-25T04:07:48.598Z,1761365268.598 [DAT](INFO): Rx dataTimestamp_ set to:1761365268.598101
2025-10-25T04:07:48.600Z,1761365268.600 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:07:48.600Z,1761365268.600 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-10-25T04:07:48.601Z,1761365268.601 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.546239
2025-10-25T04:07:48.608Z,1761365268.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503306 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:48.608Z,1761365268.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:48.851Z,1761365268.851 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795628
2025-10-25T04:07:48.984Z,1761365268.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853923,0.502619,-0.134869],[-0.518932,0.841872,-0.148193],[0.039058,0.196533,0.979719]]
2025-10-25T04:07:49.050Z,1761365269.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:49.102Z,1761365269.102 [DAT](INFO): DAT read: Rx Time:04:07:48.1773 

2025-10-25T04:07:49.103Z,1761365269.103 [DAT](INFO): Rx dataTimestamp_ set to:1761365269.102246
2025-10-25T04:07:49.104Z,1761365269.104 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.2

2025-10-25T04:07:49.104Z,1761365269.104 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-10-25T04:07:49.105Z,1761365269.105 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.050397
2025-10-25T04:07:49.354Z,1761365269.354 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298576
2025-10-25T04:07:49.424Z,1761365269.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504145 s,
      deltaX: 0.200000 m,
      approachRate: 0.396711 m/s,
      rangeRepo size: 4

2025-10-25T04:07:49.424Z,1761365269.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:49.606Z,1761365269.606 [DAT](INFO): DAT read: Rx Time:04:07:48.6773 

2025-10-25T04:07:49.606Z,1761365269.606 [DAT](INFO): Rx dataTimestamp_ set to:1761365269.606091
2025-10-25T04:07:49.608Z,1761365269.608 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:07:49.608Z,1761365269.608 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-10-25T04:07:49.609Z,1761365269.609 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.554235
2025-10-25T04:07:49.773Z,1761365269.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853083,0.503725,-0.136052],[-0.520247,0.841103,-0.147949],[0.039908,0.196993,0.979592]]
2025-10-25T04:07:49.799Z,1761365269.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503845 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:49.800Z,1761365269.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:49.858Z,1761365269.858 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802642
2025-10-25T04:07:50.110Z,1761365270.110 [DAT](INFO): DAT read: Rx Time:04:07:49.1774 

2025-10-25T04:07:50.111Z,1761365270.111 [DAT](INFO): Rx dataTimestamp_ set to:1761365270.110853
2025-10-25T04:07:50.113Z,1761365270.113 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.4

2025-10-25T04:07:50.114Z,1761365270.114 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-10-25T04:07:50.115Z,1761365270.115 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.059669
2025-10-25T04:07:50.176Z,1761365270.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852626,0.504425,-0.136328],[-0.520980,0.840696,-0.147684],[0.040115,0.196943,0.979594]]
2025-10-25T04:07:50.223Z,1761365270.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504762 s,
      deltaX: 0.100000 m,
      approachRate: 0.198114 m/s,
      rangeRepo size: 4

2025-10-25T04:07:50.224Z,1761365270.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:50.362Z,1761365270.362 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307485
2025-10-25T04:07:50.614Z,1761365270.614 [DAT](INFO): DAT read: Rx Time:04:07:49.6774 

2025-10-25T04:07:50.615Z,1761365270.615 [DAT](INFO): Rx dataTimestamp_ set to:1761365270.614269
2025-10-25T04:07:50.616Z,1761365270.616 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:07:50.617Z,1761365270.617 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-10-25T04:07:50.617Z,1761365270.617 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.562465
2025-10-25T04:07:50.646Z,1761365270.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503416 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:50.646Z,1761365270.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:50.866Z,1761365270.866 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810638
2025-10-25T04:07:51.009Z,1761365271.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852264,0.504997,-0.136468],[-0.521562,0.840379,-0.147433],[0.040232,0.196828,0.979612]]
2025-10-25T04:07:51.119Z,1761365271.119 [DAT](INFO): DAT read: Rx Time:04:07:50.1774 

2025-10-25T04:07:51.120Z,1761365271.120 [DAT](INFO): Rx dataTimestamp_ set to:1761365271.119080
2025-10-25T04:07:51.121Z,1761365271.121 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:07:51.122Z,1761365271.122 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-10-25T04:07:51.123Z,1761365271.123 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.067589
2025-10-25T04:07:51.138Z,1761365271.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504811 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:51.139Z,1761365271.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:51.369Z,1761365271.369 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314534
2025-10-25T04:07:51.415Z,1761365271.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852368,0.504789,-0.136595],[-0.521390,0.840447,-0.147650],[0.040269,0.197071,0.979562]]
2025-10-25T04:07:51.458Z,1761365271.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:51.622Z,1761365271.622 [DAT](INFO): DAT read: Rx Time:04:07:50.6774 

2025-10-25T04:07:51.622Z,1761365271.622 [DAT](INFO): Rx dataTimestamp_ set to:1761365271.622203
2025-10-25T04:07:51.624Z,1761365271.624 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:51.624Z,1761365271.624 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-10-25T04:07:51.625Z,1761365271.625 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.570368
2025-10-25T04:07:51.797Z,1761365271.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852805,0.504076,-0.136494],[-0.520693,0.840770,-0.148269],[0.040021,0.197516,0.979482]]
2025-10-25T04:07:51.830Z,1761365271.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503123 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:51.831Z,1761365271.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:51.874Z,1761365271.874 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818791
2025-10-25T04:07:52.126Z,1761365272.126 [DAT](INFO): DAT read: Rx Time:04:07:51.1776 

2025-10-25T04:07:52.127Z,1761365272.127 [DAT](INFO): Rx dataTimestamp_ set to:1761365272.125870
2025-10-25T04:07:52.128Z,1761365272.128 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.3

2025-10-25T04:07:52.129Z,1761365272.129 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-10-25T04:07:52.130Z,1761365272.130 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.075013
2025-10-25T04:07:52.206Z,1761365272.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853198,0.503462,-0.136306],[-0.520072,0.841060,-0.148803],[0.039725,0.197848,0.979427]]
2025-10-25T04:07:52.312Z,1761365272.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503667 s,
      deltaX: 0.300000 m,
      approachRate: 0.595632 m/s,
      rangeRepo size: 4

2025-10-25T04:07:52.321Z,1761365272.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:52.379Z,1761365272.379 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323902
2025-10-25T04:07:52.630Z,1761365272.630 [DAT](INFO): DAT read: Rx Time:04:07:51.6775 

2025-10-25T04:07:52.630Z,1761365272.630 [DAT](INFO): Rx dataTimestamp_ set to:1761365272.629987
2025-10-25T04:07:52.632Z,1761365272.632 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.3

2025-10-25T04:07:52.632Z,1761365272.632 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-10-25T04:07:52.633Z,1761365272.633 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.578174
2025-10-25T04:07:52.662Z,1761365272.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504117 s,
      deltaX: -0.100000 m,
      approachRate: -0.198367 m/s,
      rangeRepo size: 4

2025-10-25T04:07:52.662Z,1761365272.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:52.882Z,1761365272.882 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826644
2025-10-25T04:07:53.042Z,1761365273.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854742,0.501217,-0.134900],[-0.517643,0.842275,-0.150398],[0.038241,0.198381,0.979379]]
2025-10-25T04:07:53.126Z,1761365273.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:53.134Z,1761365273.134 [DAT](INFO): DAT read: Rx Time:04:07:52.1776 

2025-10-25T04:07:53.134Z,1761365273.134 [DAT](INFO): Rx dataTimestamp_ set to:1761365273.134048
2025-10-25T04:07:53.136Z,1761365273.136 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-10-25T04:07:53.136Z,1761365273.136 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-10-25T04:07:53.137Z,1761365273.137 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.082239
2025-10-25T04:07:53.386Z,1761365273.386 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330739
2025-10-25T04:07:53.436Z,1761365273.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855009,0.500967,-0.134133],[-0.517253,0.842472,-0.150634],[0.037541,0.198174,0.979448]]
2025-10-25T04:07:53.456Z,1761365273.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504061 s,
      deltaX: 0.100000 m,
      approachRate: 0.198389 m/s,
      rangeRepo size: 4

2025-10-25T04:07:53.457Z,1761365273.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:53.638Z,1761365273.638 [DAT](INFO): DAT read: Rx Time:04:07:52.6775 

2025-10-25T04:07:53.638Z,1761365273.638 [DAT](INFO): Rx dataTimestamp_ set to:1761365273.638107
2025-10-25T04:07:53.640Z,1761365273.640 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-25T04:07:53.640Z,1761365273.640 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-10-25T04:07:53.641Z,1761365273.641 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.586282
2025-10-25T04:07:53.855Z,1761365273.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504059 s,
      deltaX: -0.100000 m,
      approachRate: -0.198390 m/s,
      rangeRepo size: 4

2025-10-25T04:07:53.855Z,1761365273.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:53.890Z,1761365273.890 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835191
2025-10-25T04:07:54.142Z,1761365274.142 [DAT](INFO): DAT read: Rx Time:04:07:53.1776 

2025-10-25T04:07:54.142Z,1761365274.142 [DAT](INFO): Rx dataTimestamp_ set to:1761365274.141815
2025-10-25T04:07:54.144Z,1761365274.144 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.1

2025-10-25T04:07:54.145Z,1761365274.145 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-10-25T04:07:54.146Z,1761365274.146 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.090945
2025-10-25T04:07:54.229Z,1761365274.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856171,0.499266,-0.133055],[-0.515410,0.843373,-0.151902],[0.036375,0.198632,0.979399]]
2025-10-25T04:07:54.297Z,1761365274.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503708 s,
      deltaX: 0.100000 m,
      approachRate: 0.198528 m/s,
      rangeRepo size: 4

2025-10-25T04:07:54.298Z,1761365274.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:54.402Z,1761365274.402 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346497
2025-10-25T04:07:54.632Z,1761365274.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856487,0.498853,-0.132574],[-0.514915,0.843633,-0.152138],[0.035949,0.198569,0.979427]]
2025-10-25T04:07:54.650Z,1761365274.650 [DAT](INFO): DAT read: Rx Time:04:07:53.6775 

2025-10-25T04:07:54.650Z,1761365274.650 [DAT](INFO): Rx dataTimestamp_ set to:1761365274.650054
2025-10-25T04:07:54.652Z,1761365274.652 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-25T04:07:54.652Z,1761365274.652 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-10-25T04:07:54.653Z,1761365274.653 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.598244
2025-10-25T04:07:54.663Z,1761365274.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.508239 s,
      deltaX: -0.100000 m,
      approachRate: -0.196759 m/s,
      rangeRepo size: 4

2025-10-25T04:07:54.663Z,1761365274.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:54.905Z,1761365274.905 [DAT](INFO): DAT read: Rx Time:04:07:54.1775 

2025-10-25T04:07:54.907Z,1761365274.907 [DAT](INFO): Rx dataTimestamp_ set to:1761365274.906259
2025-10-25T04:07:54.910Z,1761365274.910 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.854370
2025-10-25T04:07:55.133Z,1761365275.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:55.154Z,1761365275.154 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:07:55.155Z,1761365275.155 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-10-25T04:07:55.156Z,1761365275.156 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.101025
2025-10-25T04:07:55.409Z,1761365275.409 [DAT](INFO): DAT read: Rx Time:04:07:54.6774 

2025-10-25T04:07:55.411Z,1761365275.411 [DAT](INFO): Rx dataTimestamp_ set to:1761365275.409616
2025-10-25T04:07:55.414Z,1761365275.414 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358235
2025-10-25T04:07:55.436Z,1761365275.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857264,0.497823,-0.131422],[-0.513687,0.844303,-0.152575],[0.035005,0.198306,0.979515]]
2025-10-25T04:07:55.484Z,1761365275.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503173 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:07:55.489Z,1761365275.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:55.658Z,1761365275.658 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:55.659Z,1761365275.659 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-10-25T04:07:55.660Z,1761365275.660 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.605033
2025-10-25T04:07:55.841Z,1761365275.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857772,0.497043,-0.131052],[-0.512857,0.844747,-0.152907],[0.034705,0.198370,0.979513]]
2025-10-25T04:07:55.862Z,1761365275.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503591 s,
      deltaX: -0.200000 m,
      approachRate: -0.397147 m/s,
      rangeRepo size: 4

2025-10-25T04:07:55.863Z,1761365275.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:55.915Z,1761365275.915 [DAT](INFO): DAT read: Rx Time:04:07:55.1775 

2025-10-25T04:07:55.916Z,1761365275.916 [DAT](INFO): Rx dataTimestamp_ set to:1761365275.915629
2025-10-25T04:07:55.918Z,1761365275.918 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.2

2025-10-25T04:07:55.919Z,1761365275.919 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-10-25T04:07:55.927Z,1761365275.927 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.865166
2025-10-25T04:07:56.162Z,1761365276.162 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.106672
2025-10-25T04:07:56.241Z,1761365276.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858158,0.496509,-0.130551],[-0.512238,0.845090,-0.153089],[0.034317,0.198247,0.979551]]
2025-10-25T04:07:56.310Z,1761365276.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.258811 s,
      deltaX: 0.200000 m,
      approachRate: 0.772764 m/s,
      rangeRepo size: 4

2025-10-25T04:07:56.311Z,1761365276.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:56.415Z,1761365276.415 [DAT](INFO): DAT read: Rx Time:04:07:55.6774 

2025-10-25T04:07:56.415Z,1761365276.415 [DAT](INFO): Rx dataTimestamp_ set to:1761365276.415214
2025-10-25T04:07:56.417Z,1761365276.417 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:56.417Z,1761365276.418 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-10-25T04:07:56.418Z,1761365276.418 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.363420
2025-10-25T04:07:56.644Z,1761365276.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858651,0.495673,-0.130483],[-0.511413,0.845526,-0.153434],[0.034274,0.198477,0.979506]]
2025-10-25T04:07:56.666Z,1761365276.666 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.610976
2025-10-25T04:07:56.676Z,1761365276.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.499585 s,
      deltaX: -0.200000 m,
      approachRate: -0.400332 m/s,
      rangeRepo size: 4

2025-10-25T04:07:56.676Z,1761365276.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:56.918Z,1761365276.918 [DAT](INFO): DAT read: Rx Time:04:07:56.1775 

2025-10-25T04:07:56.918Z,1761365276.918 [DAT](INFO): Rx dataTimestamp_ set to:1761365276.917978
2025-10-25T04:07:56.920Z,1761365276.920 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-25T04:07:56.920Z,1761365276.920 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-10-25T04:07:56.921Z,1761365276.921 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.866193
2025-10-25T04:07:57.101Z,1761365277.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858818,0.495509,-0.130007],[-0.511149,0.845724,-0.153224],[0.034026,0.198045,0.979602]]
2025-10-25T04:07:57.170Z,1761365277.170 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.114681
2025-10-25T04:07:57.171Z,1761365277.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.502764 s,
      deltaX: 0.200000 m,
      approachRate: 0.397801 m/s,
      rangeRepo size: 4

2025-10-25T04:07:57.172Z,1761365277.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:57.422Z,1761365277.422 [DAT](INFO): DAT read: Rx Time:04:07:56.6774 

2025-10-25T04:07:57.422Z,1761365277.422 [DAT](INFO): Rx dataTimestamp_ set to:1761365277.422084
2025-10-25T04:07:57.424Z,1761365277.424 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:07:57.424Z,1761365277.424 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-10-25T04:07:57.425Z,1761365277.425 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.370267
2025-10-25T04:07:57.510Z,1761365277.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859178,0.494915,-0.129892],[-0.510547,0.846061,-0.153371],[0.033991,0.198089,0.979595]]
2025-10-25T04:07:57.560Z,1761365277.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504106 s,
      deltaX: -0.200000 m,
      approachRate: -0.396742 m/s,
      rangeRepo size: 4

2025-10-25T04:07:57.562Z,1761365277.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:57.674Z,1761365277.674 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.618759
2025-10-25T04:07:57.862Z,1761365277.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859381,0.494579,-0.129833],[-0.510205,0.846260,-0.153413],[0.033997,0.198082,0.979596]]
2025-10-25T04:07:57.926Z,1761365277.926 [DAT](INFO): DAT read: Rx Time:04:07:57.1775 

2025-10-25T04:07:57.927Z,1761365277.927 [DAT](INFO): Rx dataTimestamp_ set to:1761365277.926376
2025-10-25T04:07:57.929Z,1761365277.929 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:07:57.929Z,1761365277.929 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-10-25T04:07:57.930Z,1761365277.930 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.875199
2025-10-25T04:07:57.950Z,1761365277.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504292 s,
      deltaX: 0.200000 m,
      approachRate: 0.396595 m/s,
      rangeRepo size: 4

2025-10-25T04:07:57.950Z,1761365277.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:58.178Z,1761365278.178 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.123405
2025-10-25T04:07:58.261Z,1761365278.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859704,0.493952,-0.130075],[-0.509643,0.846562,-0.153611],[0.034240,0.198352,0.979533]]
2025-10-25T04:07:58.331Z,1761365278.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:58.430Z,1761365278.430 [DAT](INFO): DAT read: Rx Time:04:07:57.6774 

2025-10-25T04:07:58.430Z,1761365278.430 [DAT](INFO): Rx dataTimestamp_ set to:1761365278.430022
2025-10-25T04:07:58.432Z,1761365278.432 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.2

2025-10-25T04:07:58.433Z,1761365278.433 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-10-25T04:07:58.434Z,1761365278.434 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.379440
2025-10-25T04:07:58.666Z,1761365278.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859875,0.493666,-0.130036],[-0.509354,0.846731,-0.153641],[0.034258,0.198346,0.979533]]
2025-10-25T04:07:58.682Z,1761365278.682 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.626888
2025-10-25T04:07:58.694Z,1761365278.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503646 s,
      deltaX: -0.200000 m,
      approachRate: -0.397104 m/s,
      rangeRepo size: 4

2025-10-25T04:07:58.695Z,1761365278.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:58.934Z,1761365278.934 [DAT](INFO): DAT read: Rx Time:04:07:58.1775 

2025-10-25T04:07:58.934Z,1761365278.934 [DAT](INFO): Rx dataTimestamp_ set to:1761365278.933917
2025-10-25T04:07:58.935Z,1761365278.935 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:07:58.936Z,1761365278.936 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-10-25T04:07:58.937Z,1761365278.937 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.882123
2025-10-25T04:07:59.124Z,1761365279.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859948,0.493429,-0.130447],[-0.509205,0.846810,-0.153697],[0.034626,0.198596,0.979470]]
2025-10-25T04:07:59.186Z,1761365279.186 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.131405
2025-10-25T04:07:59.190Z,1761365279.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503895 s,
      deltaX: 0.200000 m,
      approachRate: 0.396908 m/s,
      rangeRepo size: 4

2025-10-25T04:07:59.191Z,1761365279.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:59.438Z,1761365279.438 [DAT](INFO): DAT read: Rx Time:04:07:58.6774 

2025-10-25T04:07:59.438Z,1761365279.438 [DAT](INFO): Rx dataTimestamp_ set to:1761365279.437885
2025-10-25T04:07:59.439Z,1761365279.439 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:07:59.440Z,1761365279.440 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-10-25T04:07:59.441Z,1761365279.441 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.386087
2025-10-25T04:07:59.474Z,1761365279.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860165,0.493011,-0.130598],[-0.508828,0.847014,-0.153822],[0.034783,0.198764,0.979430]]
2025-10-25T04:07:59.532Z,1761365279.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503968 s,
      deltaX: -0.200000 m,
      approachRate: -0.396850 m/s,
      rangeRepo size: 4

2025-10-25T04:07:59.537Z,1761365279.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:59.695Z,1761365279.695 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.639444
2025-10-25T04:07:59.876Z,1761365279.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859970,0.493336,-0.130654],[-0.509142,0.846912,-0.153343],[0.035003,0.198391,0.979498]]
2025-10-25T04:07:59.916Z,1761365279.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:07:59.942Z,1761365279.942 [DAT](INFO): DAT read: Rx Time:04:07:59.1775 

2025-10-25T04:07:59.942Z,1761365279.942 [DAT](INFO): Rx dataTimestamp_ set to:1761365279.942139
2025-10-25T04:07:59.945Z,1761365279.945 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-25T04:07:59.946Z,1761365279.946 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-10-25T04:07:59.947Z,1761365279.947 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.891565
2025-10-25T04:08:00.195Z,1761365280.195 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.139530
2025-10-25T04:08:00.347Z,1761365280.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504254 s,
      deltaX: 0.200000 m,
      approachRate: 0.396625 m/s,
      rangeRepo size: 4

2025-10-25T04:08:00.347Z,1761365280.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:00.447Z,1761365280.447 [DAT](INFO): DAT read: Rx Time:04:07:59.6774 

2025-10-25T04:08:00.447Z,1761365280.447 [DAT](INFO): Rx dataTimestamp_ set to:1761365280.447001
2025-10-25T04:08:00.449Z,1761365280.449 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.3

2025-10-25T04:08:00.449Z,1761365280.449 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-10-25T04:08:00.450Z,1761365280.450 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.395227
2025-10-25T04:08:00.691Z,1761365280.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859917,0.493241,-0.131363],[-0.509179,0.846945,-0.153038],[0.035773,0.198488,0.979450]]
2025-10-25T04:08:00.698Z,1761365280.698 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.642765
2025-10-25T04:08:00.739Z,1761365280.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504862 s,
      deltaX: -0.200000 m,
      approachRate: -0.396147 m/s,
      rangeRepo size: 4

2025-10-25T04:08:00.740Z,1761365280.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:00.950Z,1761365280.950 [DAT](INFO): DAT read: Rx Time:04:08:00.1775 

2025-10-25T04:08:00.950Z,1761365280.950 [DAT](INFO): Rx dataTimestamp_ set to:1761365280.949962
2025-10-25T04:08:00.951Z,1761365280.951 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:00.952Z,1761365280.952 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-10-25T04:08:00.954Z,1761365280.954 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.898754
2025-10-25T04:08:01.161Z,1761365281.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.502961 s,
      deltaX: 0.200000 m,
      approachRate: 0.397645 m/s,
      rangeRepo size: 4

2025-10-25T04:08:01.162Z,1761365281.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:01.202Z,1761365281.202 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.146994
2025-10-25T04:08:01.454Z,1761365281.454 [DAT](INFO): DAT read: Rx Time:04:08:00.6774 

2025-10-25T04:08:01.454Z,1761365281.454 [DAT](INFO): Rx dataTimestamp_ set to:1761365281.453987
2025-10-25T04:08:01.455Z,1761365281.455 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:08:01.456Z,1761365281.456 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-10-25T04:08:01.457Z,1761365281.457 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.402185
2025-10-25T04:08:01.590Z,1761365281.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859790,0.493320,-0.131896],[-0.509349,0.846913,-0.152648],[0.036400,0.198426,0.979440]]
2025-10-25T04:08:01.653Z,1761365281.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504025 s,
      deltaX: -0.200000 m,
      approachRate: -0.396805 m/s,
      rangeRepo size: 4

2025-10-25T04:08:01.654Z,1761365281.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:01.706Z,1761365281.706 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.650799
2025-10-25T04:08:01.958Z,1761365281.958 [DAT](INFO): DAT read: Rx Time:04:08:01.1775 

2025-10-25T04:08:01.958Z,1761365281.958 [DAT](INFO): Rx dataTimestamp_ set to:1761365281.957816
2025-10-25T04:08:01.960Z,1761365281.960 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:01.961Z,1761365281.961 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-10-25T04:08:01.962Z,1761365281.962 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.907225
2025-10-25T04:08:01.989Z,1761365281.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859625,0.493494,-0.132322],[-0.509588,0.846850,-0.152199],[0.036947,0.198264,0.979452]]
2025-10-25T04:08:02.050Z,1761365282.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503829 s,
      deltaX: 0.200000 m,
      approachRate: 0.396960 m/s,
      rangeRepo size: 4

2025-10-25T04:08:02.050Z,1761365282.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:02.210Z,1761365282.210 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154657
2025-10-25T04:08:02.435Z,1761365282.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859433,0.493761,-0.132571],[-0.509880,0.846774,-0.151646],[0.037380,0.197925,0.979504]]
2025-10-25T04:08:02.463Z,1761365282.463 [DAT](INFO): DAT read: Rx Time:04:08:01.6774 

2025-10-25T04:08:02.463Z,1761365282.463 [DAT](INFO): Rx dataTimestamp_ set to:1761365282.463216
2025-10-25T04:08:02.465Z,1761365282.465 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.3

2025-10-25T04:08:02.466Z,1761365282.466 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-10-25T04:08:02.467Z,1761365282.467 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.411652
2025-10-25T04:08:02.632Z,1761365282.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.505400 s,
      deltaX: -0.200000 m,
      approachRate: -0.395726 m/s,
      rangeRepo size: 4

2025-10-25T04:08:02.641Z,1761365282.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:02.714Z,1761365282.714 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.658958
2025-10-25T04:08:02.805Z,1761365282.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859351,0.493804,-0.132943],[-0.509983,0.846776,-0.151289],[0.037865,0.197809,0.979509]]
2025-10-25T04:08:02.866Z,1761365282.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:02.967Z,1761365282.967 [DAT](INFO): DAT read: Rx Time:04:08:02.1774 

2025-10-25T04:08:02.968Z,1761365282.968 [DAT](INFO): Rx dataTimestamp_ set to:1761365282.967261
2025-10-25T04:08:02.973Z,1761365282.973 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-25T04:08:02.974Z,1761365282.974 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-10-25T04:08:02.975Z,1761365282.975 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.919781
2025-10-25T04:08:03.199Z,1761365283.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859321,0.493759,-0.133300],[-0.510009,0.846761,-0.151284],[0.038175,0.197985,0.979461]]
2025-10-25T04:08:03.218Z,1761365283.218 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.162640
2025-10-25T04:08:03.297Z,1761365283.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504045 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:03.298Z,1761365283.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:03.470Z,1761365283.470 [DAT](INFO): DAT read: Rx Time:04:08:02.6773 

2025-10-25T04:08:03.470Z,1761365283.470 [DAT](INFO): Rx dataTimestamp_ set to:1761365283.469939
2025-10-25T04:08:03.471Z,1761365283.471 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:08:03.472Z,1761365283.472 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-10-25T04:08:03.479Z,1761365283.479 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.423962
2025-10-25T04:08:03.605Z,1761365283.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859469,0.493349,-0.133862],[-0.509734,0.846854,-0.151692],[0.038525,0.198608,0.979321]]
2025-10-25T04:08:03.650Z,1761365283.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.502678 s,
      deltaX: -0.100000 m,
      approachRate: -0.198935 m/s,
      rangeRepo size: 4

2025-10-25T04:08:03.650Z,1761365283.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:03.722Z,1761365283.722 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.666899
2025-10-25T04:08:03.974Z,1761365283.974 [DAT](INFO): DAT read: Rx Time:04:08:03.1775 

2025-10-25T04:08:03.974Z,1761365283.974 [DAT](INFO): Rx dataTimestamp_ set to:1761365283.973902
2025-10-25T04:08:03.975Z,1761365283.975 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-25T04:08:03.977Z,1761365283.977 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-10-25T04:08:03.978Z,1761365283.978 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.923376
2025-10-25T04:08:04.012Z,1761365284.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859275,0.493581,-0.134252],[-0.510034,0.846701,-0.151534],[0.038878,0.198682,0.979293]]
2025-10-25T04:08:04.067Z,1761365284.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:08:04.074Z,1761365284.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503963 s,
      deltaX: 0.300000 m,
      approachRate: 0.595282 m/s,
      rangeRepo size: 4

2025-10-25T04:08:04.074Z,1761365284.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:04.226Z,1761365284.226 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.170790
2025-10-25T04:08:04.425Z,1761365284.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858890,0.494205,-0.134423],[-0.510665,0.846403,-0.151073],[0.039115,0.198400,0.979340]]
2025-10-25T04:08:04.466Z,1761365284.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:04.482Z,1761365284.482 [DAT](INFO): DAT read: Rx Time:04:08:03.6774 

2025-10-25T04:08:04.482Z,1761365284.482 [DAT](INFO): Rx dataTimestamp_ set to:1761365284.481820
2025-10-25T04:08:04.483Z,1761365284.483 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-25T04:08:04.484Z,1761365284.484 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-10-25T04:08:04.485Z,1761365284.485 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.430235
2025-10-25T04:08:04.730Z,1761365284.730 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.674623
2025-10-25T04:08:04.817Z,1761365284.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858700,0.494431,-0.134807],[-0.510953,0.846279,-0.150797],[0.039525,0.198369,0.979330]]
2025-10-25T04:08:04.860Z,1761365284.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.507918 s,
      deltaX: -0.200000 m,
      approachRate: -0.393764 m/s,
      rangeRepo size: 4

2025-10-25T04:08:04.865Z,1761365284.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:04.982Z,1761365284.982 [DAT](INFO): DAT read: Rx Time:04:08:04.1776 

2025-10-25T04:08:04.982Z,1761365284.982 [DAT](INFO): Rx dataTimestamp_ set to:1761365284.981974
2025-10-25T04:08:04.984Z,1761365284.984 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.1

2025-10-25T04:08:04.984Z,1761365284.984 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-10-25T04:08:04.985Z,1761365284.985 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.930180
2025-10-25T04:08:05.228Z,1761365285.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858496,0.494766,-0.134878],[-0.511284,0.846136,-0.150476],[0.039675,0.198144,0.979370]]
2025-10-25T04:08:05.242Z,1761365285.242 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.187363
2025-10-25T04:08:05.317Z,1761365285.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.500154 s,
      deltaX: 0.300000 m,
      approachRate: 0.599816 m/s,
      rangeRepo size: 4

2025-10-25T04:08:05.318Z,1761365285.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:05.494Z,1761365285.494 [DAT](INFO): DAT read: Rx Time:04:08:04.6775 

2025-10-25T04:08:05.495Z,1761365285.495 [DAT](INFO): Rx dataTimestamp_ set to:1761365285.494618
2025-10-25T04:08:05.496Z,1761365285.496 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:05.497Z,1761365285.497 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-10-25T04:08:05.498Z,1761365285.498 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.442822
2025-10-25T04:08:05.713Z,1761365285.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858624,0.494496,-0.135048],[-0.511051,0.846280,-0.150458],[0.039888,0.198203,0.979349]]
2025-10-25T04:08:05.746Z,1761365285.746 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.690708
2025-10-25T04:08:05.748Z,1761365285.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.512644 s,
      deltaX: -0.100000 m,
      approachRate: -0.195068 m/s,
      rangeRepo size: 4

2025-10-25T04:08:05.753Z,1761365285.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:06.001Z,1761365286.001 [DAT](INFO): DAT read: Rx Time:04:08:05.1776 

2025-10-25T04:08:06.001Z,1761365286.001 [DAT](INFO): Rx dataTimestamp_ set to:1761365286.001124
2025-10-25T04:08:06.003Z,1761365286.003 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:06.003Z,1761365286.003 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-10-25T04:08:06.004Z,1761365286.004 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.949192
2025-10-25T04:08:06.100Z,1761365286.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859099,0.493599,-0.135313],[-0.510243,0.846666,-0.151028],[0.040018,0.198790,0.979225]]
2025-10-25T04:08:06.137Z,1761365286.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.506506 s,
      deltaX: 0.100000 m,
      approachRate: 0.197432 m/s,
      rangeRepo size: 4

2025-10-25T04:08:06.138Z,1761365286.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:06.250Z,1761365286.250 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.194681
2025-10-25T04:08:06.502Z,1761365286.502 [DAT](INFO): DAT read: Rx Time:04:08:05.6775 

2025-10-25T04:08:06.502Z,1761365286.502 [DAT](INFO): Rx dataTimestamp_ set to:1761365286.502029
2025-10-25T04:08:06.504Z,1761365286.504 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:06.504Z,1761365286.504 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-10-25T04:08:06.506Z,1761365286.506 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.450869
2025-10-25T04:08:06.570Z,1761365286.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859220,0.493436,-0.135135],[-0.510050,0.846771,-0.151090],[0.039875,0.198745,0.979240]]
2025-10-25T04:08:06.632Z,1761365286.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.500905 s,
      deltaX: -0.100000 m,
      approachRate: -0.199639 m/s,
      rangeRepo size: 4

2025-10-25T04:08:06.632Z,1761365286.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:06.754Z,1761365286.754 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.698641
2025-10-25T04:08:07.018Z,1761365287.018 [DAT](INFO): DAT read: Rx Time:04:08:06.1776 

2025-10-25T04:08:07.018Z,1761365287.018 [DAT](INFO): Rx dataTimestamp_ set to:1761365287.018125
2025-10-25T04:08:07.020Z,1761365287.020 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.4

2025-10-25T04:08:07.020Z,1761365287.020 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-10-25T04:08:07.021Z,1761365287.021 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.966307
2025-10-25T04:08:07.033Z,1761365287.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859645,0.492768,-0.134868],[-0.509354,0.847119,-0.151487],[0.039601,0.198921,0.979215]]
2025-10-25T04:08:07.074Z,1761365287.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.516096 s,
      deltaX: 0.100000 m,
      approachRate: 0.193763 m/s,
      rangeRepo size: 4

2025-10-25T04:08:07.074Z,1761365287.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:07.271Z,1761365287.271 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.215214
2025-10-25T04:08:07.515Z,1761365287.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:07.522Z,1761365287.522 [DAT](INFO): DAT read: Rx Time:04:08:06.6775 

2025-10-25T04:08:07.522Z,1761365287.522 [DAT](INFO): Rx dataTimestamp_ set to:1761365287.522065
2025-10-25T04:08:07.524Z,1761365287.524 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:07.524Z,1761365287.524 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-10-25T04:08:07.526Z,1761365287.526 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.470978
2025-10-25T04:08:07.774Z,1761365287.774 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.718571
2025-10-25T04:08:07.895Z,1761365287.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860434,0.491653,-0.133906],[-0.508094,0.847732,-0.152286],[0.038645,0.199069,0.979223]]
2025-10-25T04:08:07.938Z,1761365287.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503940 s,
      deltaX: -0.100000 m,
      approachRate: -0.198437 m/s,
      rangeRepo size: 4

2025-10-25T04:08:07.938Z,1761365287.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:08.027Z,1761365288.027 [DAT](INFO): DAT read: Rx Time:04:08:07.1776 

2025-10-25T04:08:08.028Z,1761365288.028 [DAT](INFO): Rx dataTimestamp_ set to:1761365288.027344
2025-10-25T04:08:08.034Z,1761365288.034 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.3

2025-10-25T04:08:08.035Z,1761365288.035 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-10-25T04:08:08.037Z,1761365288.037 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.981787
2025-10-25T04:08:08.279Z,1761365288.279 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.223467
2025-10-25T04:08:08.331Z,1761365288.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860843,0.491054,-0.133477],[-0.507436,0.848044,-0.152742],[0.038189,0.199218,0.979211]]
2025-10-25T04:08:08.409Z,1761365288.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.505279 s,
      deltaX: 0.100000 m,
      approachRate: 0.197911 m/s,
      rangeRepo size: 4

2025-10-25T04:08:08.411Z,1761365288.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:08.530Z,1761365288.530 [DAT](INFO): DAT read: Rx Time:04:08:07.6776 

2025-10-25T04:08:08.530Z,1761365288.530 [DAT](INFO): Rx dataTimestamp_ set to:1761365288.529953
2025-10-25T04:08:08.531Z,1761365288.531 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:08.532Z,1761365288.532 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-10-25T04:08:08.533Z,1761365288.533 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.478119
2025-10-25T04:08:08.782Z,1761365288.782 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.726650
2025-10-25T04:08:08.827Z,1761365288.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.502609 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:08.828Z,1761365288.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:09.034Z,1761365289.034 [DAT](INFO): DAT read: Rx Time:04:08:08.1778 

2025-10-25T04:08:09.034Z,1761365289.034 [DAT](INFO): Rx dataTimestamp_ set to:1761365289.034001
2025-10-25T04:08:09.036Z,1761365289.036 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-25T04:08:09.036Z,1761365289.036 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-10-25T04:08:09.037Z,1761365289.037 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.982216
2025-10-25T04:08:09.274Z,1761365289.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863233,0.487272,-0.131889],[-0.503499,0.849876,-0.155563],[0.036288,0.200693,0.978982]]
2025-10-25T04:08:09.286Z,1761365289.286 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.231144
2025-10-25T04:08:09.359Z,1761365289.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.504048 s,
      deltaX: 0.299999 m,
      approachRate: 0.595180 m/s,
      rangeRepo size: 4

2025-10-25T04:08:09.361Z,1761365289.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:09.538Z,1761365289.538 [DAT](INFO): DAT read: Rx Time:04:08:08.6777 

2025-10-25T04:08:09.539Z,1761365289.539 [DAT](INFO): Rx dataTimestamp_ set to:1761365289.538508
2025-10-25T04:08:09.541Z,1761365289.541 [DAT](INFO): DAT read: Range 10 to 50 :    15.8 m (trip time 10.5 ms) speed 0.0

2025-10-25T04:08:09.542Z,1761365289.542 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-10-25T04:08:09.544Z,1761365289.544 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.488287
2025-10-25T04:08:09.726Z,1761365289.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864231,0.485902,-0.130401],[-0.501839,0.850920,-0.155222],[0.035538,0.199588,0.979235]]
2025-10-25T04:08:09.748Z,1761365289.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.800000 m,
      deltaT: 0.504507 s,
      deltaX: -0.099999 m,
      approachRate: -0.198212 m/s,
      rangeRepo size: 4

2025-10-25T04:08:09.748Z,1761365289.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:09.790Z,1761365289.790 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.734739
2025-10-25T04:08:10.042Z,1761365290.042 [DAT](INFO): DAT read: Rx Time:04:08:09.1778 

2025-10-25T04:08:10.042Z,1761365290.042 [DAT](INFO): Rx dataTimestamp_ set to:1761365290.041850
2025-10-25T04:08:10.045Z,1761365290.045 [DAT](INFO): DAT read: Range 10 to 50 :    15.9 m (trip time 10.6 ms) speed 0.0

2025-10-25T04:08:10.045Z,1761365290.045 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-10-25T04:08:10.046Z,1761365290.046 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.991282
2025-10-25T04:08:10.132Z,1761365290.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865203,0.484597,-0.128797],[-0.500213,0.851978,-0.154662],[0.034784,0.198240,0.979536]]
2025-10-25T04:08:10.185Z,1761365290.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.503342 s,
      deltaX: 0.099999 m,
      approachRate: 0.198671 m/s,
      rangeRepo size: 4

2025-10-25T04:08:10.185Z,1761365290.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:10.297Z,1761365290.297 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.241425
2025-10-25T04:08:10.546Z,1761365290.546 [DAT](INFO): DAT read: Rx Time:04:08:09.6776 

2025-10-25T04:08:10.546Z,1761365290.546 [DAT](INFO): Rx dataTimestamp_ set to:1761365290.545989
2025-10-25T04:08:10.548Z,1761365290.548 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed -0.4

2025-10-25T04:08:10.548Z,1761365290.548 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-10-25T04:08:10.549Z,1761365290.549 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.494184
2025-10-25T04:08:10.592Z,1761365290.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504139 s,
      deltaX: -0.299999 m,
      approachRate: -0.595072 m/s,
      rangeRepo size: 4

2025-10-25T04:08:10.621Z,1761365290.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:10.798Z,1761365290.798 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.742762
2025-10-25T04:08:10.937Z,1761365290.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867145,0.481544,-0.127179],[-0.496937,0.853615,-0.156188],[0.033350,0.198638,0.979505]]
2025-10-25T04:08:10.956Z,1761365290.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:11.050Z,1761365291.050 [DAT](INFO): DAT read: Rx Time:04:08:10.1776 

2025-10-25T04:08:11.051Z,1761365291.051 [DAT](INFO): Rx dataTimestamp_ set to:1761365291.050634
2025-10-25T04:08:11.053Z,1761365291.053 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:11.054Z,1761365291.054 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-10-25T04:08:11.055Z,1761365291.055 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.000330
2025-10-25T04:08:11.303Z,1761365291.303 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.248196
2025-10-25T04:08:11.351Z,1761365291.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868037,0.480075,-0.126652],[-0.495416,0.854334,-0.157085],[0.032790,0.199101,0.979430]]
2025-10-25T04:08:11.446Z,1761365291.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504645 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:11.447Z,1761365291.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:11.554Z,1761365291.554 [DAT](INFO): DAT read: Rx Time:04:08:10.6775 

2025-10-25T04:08:11.554Z,1761365291.554 [DAT](INFO): Rx dataTimestamp_ set to:1761365291.553886
2025-10-25T04:08:11.555Z,1761365291.555 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:11.556Z,1761365291.556 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-10-25T04:08:11.557Z,1761365291.557 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.502090
2025-10-25T04:08:11.806Z,1761365291.806 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.751448
2025-10-25T04:08:11.832Z,1761365291.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868925,0.478599,-0.126145],[-0.493896,0.855027,-0.158100],[0.032191,0.199679,0.979332]]
2025-10-25T04:08:11.865Z,1761365291.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503252 s,
      deltaX: -0.100000 m,
      approachRate: -0.198708 m/s,
      rangeRepo size: 4

2025-10-25T04:08:11.865Z,1761365291.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:12.058Z,1761365292.058 [DAT](INFO): DAT read: Rx Time:04:08:11.1776 

2025-10-25T04:08:12.059Z,1761365292.059 [DAT](INFO): Rx dataTimestamp_ set to:1761365292.058231
2025-10-25T04:08:12.061Z,1761365292.061 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:12.062Z,1761365292.062 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-10-25T04:08:12.063Z,1761365292.063 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.007593
2025-10-25T04:08:12.312Z,1761365292.312 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.256506
2025-10-25T04:08:12.347Z,1761365292.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869721,0.477193,-0.125987],[-0.492512,0.855649,-0.159049],[0.031903,0.200378,0.979199]]
2025-10-25T04:08:12.397Z,1761365292.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504345 s,
      deltaX: 0.100000 m,
      approachRate: 0.198278 m/s,
      rangeRepo size: 4

2025-10-25T04:08:12.397Z,1761365292.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:12.563Z,1761365292.563 [DAT](INFO): DAT read: Rx Time:04:08:11.6775 

2025-10-25T04:08:12.563Z,1761365292.563 [DAT](INFO): Rx dataTimestamp_ set to:1761365292.562701
2025-10-25T04:08:12.564Z,1761365292.564 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:12.565Z,1761365292.565 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-10-25T04:08:12.566Z,1761365292.566 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.510891
2025-10-25T04:08:12.705Z,1761365292.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870129,0.476493,-0.125817],[-0.491796,0.856019,-0.159274],[0.031808,0.200466,0.979184]]
2025-10-25T04:08:12.725Z,1761365292.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504470 s,
      deltaX: -0.100000 m,
      approachRate: -0.198229 m/s,
      rangeRepo size: 4

2025-10-25T04:08:12.726Z,1761365292.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:12.814Z,1761365292.814 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.759487
2025-10-25T04:08:13.066Z,1761365293.066 [DAT](INFO): DAT read: Rx Time:04:08:12.1776 

2025-10-25T04:08:13.066Z,1761365293.066 [DAT](INFO): Rx dataTimestamp_ set to:1761365293.065849
2025-10-25T04:08:13.067Z,1761365293.067 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:13.068Z,1761365293.068 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-10-25T04:08:13.069Z,1761365293.069 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.014048
2025-10-25T04:08:13.123Z,1761365293.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870288,0.476293,-0.125476],[-0.491524,0.856215,-0.159060],[0.031675,0.200102,0.979263]]
2025-10-25T04:08:13.144Z,1761365293.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503148 s,
      deltaX: 0.100000 m,
      approachRate: 0.198749 m/s,
      rangeRepo size: 4

2025-10-25T04:08:13.146Z,1761365293.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:13.321Z,1761365293.321 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.265451
2025-10-25T04:08:13.570Z,1761365293.570 [DAT](INFO): DAT read: Rx Time:04:08:12.6775 

2025-10-25T04:08:13.570Z,1761365293.570 [DAT](INFO): Rx dataTimestamp_ set to:1761365293.570057
2025-10-25T04:08:13.572Z,1761365293.572 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-25T04:08:13.572Z,1761365293.572 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-10-25T04:08:13.573Z,1761365293.573 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.518236
2025-10-25T04:08:13.578Z,1761365293.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504208 s,
      deltaX: -0.100000 m,
      approachRate: -0.198332 m/s,
      rangeRepo size: 4

2025-10-25T04:08:13.579Z,1761365293.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:13.821Z,1761365293.821 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.766502
2025-10-25T04:08:13.928Z,1761365293.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870250,0.476342,-0.125549],[-0.491546,0.856432,-0.157816],[0.032350,0.199053,0.979455]]
2025-10-25T04:08:13.948Z,1761365293.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:14.074Z,1761365294.074 [DAT](INFO): DAT read: Rx Time:04:08:13.1776 

2025-10-25T04:08:14.075Z,1761365294.075 [DAT](INFO): Rx dataTimestamp_ set to:1761365294.074582
2025-10-25T04:08:14.076Z,1761365294.076 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:14.078Z,1761365294.078 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-10-25T04:08:14.079Z,1761365294.079 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.024092
2025-10-25T04:08:14.329Z,1761365294.329 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.273401
2025-10-25T04:08:14.466Z,1761365294.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.504525 s,
      deltaX: 0.100000 m,
      approachRate: 0.198207 m/s,
      rangeRepo size: 4

2025-10-25T04:08:14.467Z,1761365294.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:14.578Z,1761365294.578 [DAT](INFO): DAT read: Rx Time:04:08:13.6774 

2025-10-25T04:08:14.579Z,1761365294.579 [DAT](INFO): Rx dataTimestamp_ set to:1761365294.578820
2025-10-25T04:08:14.581Z,1761365294.581 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.1

2025-10-25T04:08:14.582Z,1761365294.582 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-10-25T04:08:14.583Z,1761365294.583 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.528175
2025-10-25T04:08:14.799Z,1761365294.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504238 s,
      deltaX: -0.300000 m,
      approachRate: -0.594958 m/s,
      rangeRepo size: 4

2025-10-25T04:08:14.800Z,1761365294.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:14.830Z,1761365294.830 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.775192
2025-10-25T04:08:15.082Z,1761365295.082 [DAT](INFO): DAT read: Rx Time:04:08:14.1774 

2025-10-25T04:08:15.082Z,1761365295.082 [DAT](INFO): Rx dataTimestamp_ set to:1761365295.082159
2025-10-25T04:08:15.084Z,1761365295.084 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:08:15.084Z,1761365295.084 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-10-25T04:08:15.085Z,1761365295.085 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.030350
2025-10-25T04:08:15.158Z,1761365295.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870278,0.475402,-0.128877],[-0.491274,0.856666,-0.157392],[0.035580,0.200289,0.979091]]
2025-10-25T04:08:15.202Z,1761365295.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503339 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:15.203Z,1761365295.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:15.339Z,1761365295.339 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.283962
2025-10-25T04:08:15.542Z,1761365295.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870047,0.475584,-0.129762],[-0.491605,0.856609,-0.156669],[0.036646,0.200101,0.979090]]
2025-10-25T04:08:15.590Z,1761365295.590 [DAT](INFO): DAT read: Rx Time:04:08:14.6773 

2025-10-25T04:08:15.590Z,1761365295.590 [DAT](INFO): Rx dataTimestamp_ set to:1761365295.590009
2025-10-25T04:08:15.592Z,1761365295.592 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:08:15.592Z,1761365295.592 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-10-25T04:08:15.594Z,1761365295.594 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.538860
2025-10-25T04:08:15.597Z,1761365295.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.507850 s,
      deltaX: -0.100000 m,
      approachRate: -0.196909 m/s,
      rangeRepo size: 4

2025-10-25T04:08:15.598Z,1761365295.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:15.842Z,1761365295.842 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.786751
2025-10-25T04:08:15.947Z,1761365295.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869373,0.476605,-0.130531],[-0.492713,0.856223,-0.155296],[0.037749,0.199324,0.979206]]
2025-10-25T04:08:15.968Z,1761365295.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:16.095Z,1761365296.095 [DAT](INFO): DAT read: Rx Time:04:08:15.1775 

2025-10-25T04:08:16.096Z,1761365296.096 [DAT](INFO): Rx dataTimestamp_ set to:1761365296.095428
2025-10-25T04:08:16.097Z,1761365296.097 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.2

2025-10-25T04:08:16.098Z,1761365296.098 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-10-25T04:08:16.099Z,1761365296.099 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.043652
2025-10-25T04:08:16.348Z,1761365296.348 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.292454
2025-10-25T04:08:16.417Z,1761365296.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868958,0.477047,-0.131672],[-0.493338,0.856041,-0.154310],[0.039104,0.199048,0.979209]]
2025-10-25T04:08:16.487Z,1761365296.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.505419 s,
      deltaX: 0.300000 m,
      approachRate: 0.593567 m/s,
      rangeRepo size: 4

2025-10-25T04:08:16.488Z,1761365296.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:16.598Z,1761365296.598 [DAT](INFO): DAT read: Rx Time:04:08:15.6774 

2025-10-25T04:08:16.598Z,1761365296.598 [DAT](INFO): Rx dataTimestamp_ set to:1761365296.598019
2025-10-25T04:08:16.600Z,1761365296.600 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:08:16.600Z,1761365296.600 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-10-25T04:08:16.601Z,1761365296.601 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.546200
2025-10-25T04:08:16.850Z,1761365296.850 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.794624
2025-10-25T04:08:16.921Z,1761365296.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:08:16.929Z,1761365296.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868676,0.477116,-0.133275],[-0.493727,0.855822,-0.154280],[0.040450,0.199821,0.978997]]
2025-10-25T04:08:16.949Z,1761365296.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.502591 s,
      deltaX: -0.200000 m,
      approachRate: -0.397938 m/s,
      rangeRepo size: 4

2025-10-25T04:08:16.950Z,1761365296.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:17.102Z,1761365297.102 [DAT](INFO): DAT read: Rx Time:04:08:16.1775 

2025-10-25T04:08:17.102Z,1761365297.102 [DAT](INFO): Rx dataTimestamp_ set to:1761365297.101923
2025-10-25T04:08:17.103Z,1761365297.103 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:17.104Z,1761365297.104 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-10-25T04:08:17.105Z,1761365297.105 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.050102
2025-10-25T04:08:17.320Z,1761365297.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868735,0.476491,-0.135118],[-0.493505,0.855854,-0.154814],[0.041874,0.201174,0.978660]]
2025-10-25T04:08:17.356Z,1761365297.356 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.300671
2025-10-25T04:08:17.424Z,1761365297.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503904 s,
      deltaX: 0.200000 m,
      approachRate: 0.396901 m/s,
      rangeRepo size: 4

2025-10-25T04:08:17.424Z,1761365297.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:17.606Z,1761365297.606 [DAT](INFO): DAT read: Rx Time:04:08:16.6774 

2025-10-25T04:08:17.606Z,1761365297.606 [DAT](INFO): Rx dataTimestamp_ set to:1761365297.605905
2025-10-25T04:08:17.607Z,1761365297.607 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.1

2025-10-25T04:08:17.608Z,1761365297.608 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-10-25T04:08:17.609Z,1761365297.609 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.554100
2025-10-25T04:08:17.708Z,1761365297.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868712,0.476317,-0.135872],[-0.493467,0.855956,-0.154369],[0.042772,0.201150,0.978626]]
2025-10-25T04:08:17.767Z,1761365297.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503982 s,
      deltaX: -0.200000 m,
      approachRate: -0.396839 m/s,
      rangeRepo size: 4

2025-10-25T04:08:17.767Z,1761365297.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:17.858Z,1761365297.858 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.803108
2025-10-25T04:08:17.925Z,1761365297.925 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:08:18.110Z,1761365298.110 [DAT](INFO): DAT read: Rx Time:04:08:17.1775 

2025-10-25T04:08:18.111Z,1761365298.111 [DAT](INFO): Rx dataTimestamp_ set to:1761365298.110938
2025-10-25T04:08:18.113Z,1761365298.113 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:18.113Z,1761365298.113 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-10-25T04:08:18.114Z,1761365298.114 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.059155
2025-10-25T04:08:18.143Z,1761365298.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868658,0.476272,-0.136373],[-0.493500,0.856037,-0.153816],[0.043482,0.200914,0.978643]]
2025-10-25T04:08:18.208Z,1761365298.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.505033 s,
      deltaX: 0.200000 m,
      approachRate: 0.396013 m/s,
      rangeRepo size: 4

2025-10-25T04:08:18.213Z,1761365298.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:18.365Z,1761365298.365 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.308796
2025-10-25T04:08:18.527Z,1761365298.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868447,0.476473,-0.137012],[-0.493787,0.856033,-0.152911],[0.044429,0.200450,0.978696]]
2025-10-25T04:08:18.582Z,1761365298.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:18.614Z,1761365298.614 [DAT](INFO): DAT read: Rx Time:04:08:17.6775 

2025-10-25T04:08:18.614Z,1761365298.614 [DAT](INFO): Rx dataTimestamp_ set to:1761365298.613796
2025-10-25T04:08:18.615Z,1761365298.615 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:18.616Z,1761365298.616 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-10-25T04:08:18.617Z,1761365298.617 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.561966
2025-10-25T04:08:18.866Z,1761365298.866 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.810699
2025-10-25T04:08:18.936Z,1761365298.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868391,0.476458,-0.137423],[-0.493820,0.856147,-0.152164],[0.045155,0.200000,0.978755]]
2025-10-25T04:08:19.015Z,1761365299.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.502858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:19.016Z,1761365299.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:19.118Z,1761365299.118 [DAT](INFO): DAT read: Rx Time:04:08:18.1775 

2025-10-25T04:08:19.118Z,1761365299.118 [DAT](INFO): Rx dataTimestamp_ set to:1761365299.118182
2025-10-25T04:08:19.120Z,1761365299.120 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:19.120Z,1761365299.120 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-10-25T04:08:19.121Z,1761365299.121 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.066349
2025-10-25T04:08:19.332Z,1761365299.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868544,0.476072,-0.137795],[-0.493493,0.856418,-0.151699],[0.045791,0.199759,0.978775]]
2025-10-25T04:08:19.374Z,1761365299.374 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.318344
2025-10-25T04:08:19.447Z,1761365299.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504386 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:19.447Z,1761365299.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:19.622Z,1761365299.622 [DAT](INFO): DAT read: Rx Time:04:08:18.6774 

2025-10-25T04:08:19.622Z,1761365299.622 [DAT](INFO): Rx dataTimestamp_ set to:1761365299.622047
2025-10-25T04:08:19.624Z,1761365299.624 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:08:19.624Z,1761365299.624 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-10-25T04:08:19.625Z,1761365299.625 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.570221
2025-10-25T04:08:19.730Z,1761365299.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868766,0.475611,-0.137987],[-0.493061,0.856724,-0.151376],[0.046221,0.199546,0.978798]]
2025-10-25T04:08:19.804Z,1761365299.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.503865 s,
      deltaX: -0.200000 m,
      approachRate: -0.396931 m/s,
      rangeRepo size: 4

2025-10-25T04:08:19.804Z,1761365299.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:19.877Z,1761365299.877 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.821701
2025-10-25T04:08:20.126Z,1761365300.126 [DAT](INFO): DAT read: Rx Time:04:08:19.1775 

2025-10-25T04:08:20.127Z,1761365300.127 [DAT](INFO): Rx dataTimestamp_ set to:1761365300.126385
2025-10-25T04:08:20.129Z,1761365300.129 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-10-25T04:08:20.129Z,1761365300.129 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-10-25T04:08:20.130Z,1761365300.130 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.075222
2025-10-25T04:08:20.139Z,1761365300.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869474,0.474234,-0.138266],[-0.491776,0.857402,-0.151717],[0.046600,0.199910,0.978705]]
2025-10-25T04:08:20.190Z,1761365300.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504338 s,
      deltaX: 0.200000 m,
      approachRate: 0.396559 m/s,
      rangeRepo size: 4

2025-10-25T04:08:20.191Z,1761365300.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:20.382Z,1761365300.382 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.326065
2025-10-25T04:08:20.536Z,1761365300.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870118,0.473053,-0.138261],[-0.490622,0.858020,-0.151957],[0.046747,0.200054,0.978669]]
2025-10-25T04:08:20.596Z,1761365300.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:20.630Z,1761365300.630 [DAT](INFO): DAT read: Rx Time:04:08:19.6774 

2025-10-25T04:08:20.631Z,1761365300.631 [DAT](INFO): Rx dataTimestamp_ set to:1761365300.630733
2025-10-25T04:08:20.634Z,1761365300.634 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.0

2025-10-25T04:08:20.635Z,1761365300.635 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-10-25T04:08:20.636Z,1761365300.636 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.581100
2025-10-25T04:08:20.882Z,1761365300.882 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.826939
2025-10-25T04:08:20.943Z,1761365300.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870804,0.471693,-0.138586],[-0.489361,0.858684,-0.152274],[0.047175,0.200420,0.978574]]
2025-10-25T04:08:20.972Z,1761365300.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.504348 s,
      deltaX: -0.200000 m,
      approachRate: -0.396551 m/s,
      rangeRepo size: 4

2025-10-25T04:08:20.972Z,1761365300.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:21.134Z,1761365301.134 [DAT](INFO): DAT read: Rx Time:04:08:20.1775 

2025-10-25T04:08:21.134Z,1761365301.134 [DAT](INFO): Rx dataTimestamp_ set to:1761365301.134152
2025-10-25T04:08:21.136Z,1761365301.136 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed -0.1

2025-10-25T04:08:21.136Z,1761365301.136 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-10-25T04:08:21.137Z,1761365301.137 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.082375
2025-10-25T04:08:21.355Z,1761365301.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871599,0.470375,-0.138068],[-0.487964,0.859453,-0.152418],[0.046969,0.200220,0.978625]]
2025-10-25T04:08:21.388Z,1761365301.388 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.332874
2025-10-25T04:08:21.466Z,1761365301.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503419 s,
      deltaX: 0.200000 m,
      approachRate: 0.397283 m/s,
      rangeRepo size: 4

2025-10-25T04:08:21.467Z,1761365301.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:21.638Z,1761365301.638 [DAT](INFO): DAT read: Rx Time:04:08:20.6775 

2025-10-25T04:08:21.638Z,1761365301.638 [DAT](INFO): Rx dataTimestamp_ set to:1761365301.637895
2025-10-25T04:08:21.639Z,1761365301.639 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:21.640Z,1761365301.640 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-10-25T04:08:21.641Z,1761365301.641 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.586079
2025-10-25T04:08:21.756Z,1761365301.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872393,0.469001,-0.137727],[-0.486551,0.860218,-0.152621],[0.046896,0.200157,0.978641]]
2025-10-25T04:08:21.822Z,1761365301.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503743 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:21.823Z,1761365301.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:21.891Z,1761365301.891 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.835712
2025-10-25T04:08:22.142Z,1761365302.142 [DAT](INFO): DAT read: Rx Time:04:08:21.1776 

2025-10-25T04:08:22.142Z,1761365302.142 [DAT](INFO): Rx dataTimestamp_ set to:1761365302.141888
2025-10-25T04:08:22.150Z,1761365302.150 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.3

2025-10-25T04:08:22.151Z,1761365302.151 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-10-25T04:08:22.151Z,1761365302.151 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.096485
2025-10-25T04:08:22.163Z,1761365302.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873249,0.467557,-0.137209],[-0.485032,0.861038,-0.152830],[0.046685,0.200010,0.978681]]
2025-10-25T04:08:22.213Z,1761365302.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503993 s,
      deltaX: 0.100000 m,
      approachRate: 0.198416 m/s,
      rangeRepo size: 4

2025-10-25T04:08:22.214Z,1761365302.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:22.397Z,1761365302.397 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.341022
2025-10-25T04:08:22.563Z,1761365302.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874195,0.465955,-0.136635],[-0.483356,0.861910,-0.153224],[0.046372,0.199991,0.978700]]
2025-10-25T04:08:22.620Z,1761365302.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:22.646Z,1761365302.646 [DAT](INFO): DAT read: Rx Time:04:08:21.6775 

2025-10-25T04:08:22.647Z,1761365302.647 [DAT](INFO): Rx dataTimestamp_ set to:1761365302.646663
2025-10-25T04:08:22.648Z,1761365302.648 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:22.649Z,1761365302.649 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-10-25T04:08:22.650Z,1761365302.650 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.594852
2025-10-25T04:08:22.898Z,1761365302.898 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.842621
2025-10-25T04:08:22.971Z,1761365302.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875269,0.464116,-0.136014],[-0.481442,0.862889,-0.153740],[0.046012,0.200047,0.978705]]
2025-10-25T04:08:22.991Z,1761365302.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504775 s,
      deltaX: -0.100000 m,
      approachRate: -0.198109 m/s,
      rangeRepo size: 4

2025-10-25T04:08:22.991Z,1761365302.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:23.150Z,1761365303.150 [DAT](INFO): DAT read: Rx Time:04:08:22.1776 

2025-10-25T04:08:23.150Z,1761365303.150 [DAT](INFO): Rx dataTimestamp_ set to:1761365303.150200
2025-10-25T04:08:23.152Z,1761365303.152 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.1

2025-10-25T04:08:23.152Z,1761365303.152 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-10-25T04:08:23.153Z,1761365303.153 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.098400
2025-10-25T04:08:23.373Z,1761365303.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876336,0.462339,-0.135195],[-0.479552,0.863838,-0.154317],[0.045440,0.200066,0.978728]]
2025-10-25T04:08:23.405Z,1761365303.405 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.349136
2025-10-25T04:08:23.468Z,1761365303.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503537 s,
      deltaX: 0.100000 m,
      approachRate: 0.198596 m/s,
      rangeRepo size: 4

2025-10-25T04:08:23.474Z,1761365303.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:23.654Z,1761365303.654 [DAT](INFO): DAT read: Rx Time:04:08:22.6775 

2025-10-25T04:08:23.654Z,1761365303.654 [DAT](INFO): Rx dataTimestamp_ set to:1761365303.653885
2025-10-25T04:08:23.655Z,1761365303.655 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:23.656Z,1761365303.656 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-10-25T04:08:23.657Z,1761365303.657 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.602081
2025-10-25T04:08:23.779Z,1761365303.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877629,0.460062,-0.134575],[-0.477223,0.864971,-0.155189],[0.045007,0.200421,0.978676]]
2025-10-25T04:08:23.868Z,1761365303.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503685 s,
      deltaX: -0.100000 m,
      approachRate: -0.198538 m/s,
      rangeRepo size: 4

2025-10-25T04:08:23.877Z,1761365303.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:23.910Z,1761365303.910 [DAT](INFO): DAT read: Rx Time:04:08:23.1775 

2025-10-25T04:08:23.911Z,1761365303.911 [DAT](INFO): Rx dataTimestamp_ set to:1761365303.910135
2025-10-25T04:08:23.914Z,1761365303.914 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.857475
2025-10-25T04:08:24.158Z,1761365304.158 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-10-25T04:08:24.159Z,1761365304.159 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-10-25T04:08:24.161Z,1761365304.161 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.106079
2025-10-25T04:08:24.195Z,1761365304.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878745,0.458180,-0.133707],[-0.475219,0.865972,-0.155753],[0.044424,0.200408,0.978705]]
2025-10-25T04:08:24.224Z,1761365304.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.503221 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:24.224Z,1761365304.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:24.413Z,1761365304.413 [DAT](INFO): DAT read: Rx Time:04:08:23.6774 

2025-10-25T04:08:24.415Z,1761365304.415 [DAT](INFO): Rx dataTimestamp_ set to:1761365304.414151
2025-10-25T04:08:24.416Z,1761365304.416 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed 0.1

2025-10-25T04:08:24.417Z,1761365304.417 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-10-25T04:08:24.418Z,1761365304.418 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.362984
2025-10-25T04:08:24.662Z,1761365304.662 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.606972
2025-10-25T04:08:24.663Z,1761365304.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.257045 s,
      deltaX: -0.200000 m,
      approachRate: -0.778073 m/s,
      rangeRepo size: 4

2025-10-25T04:08:24.663Z,1761365304.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:24.916Z,1761365304.916 [DAT](INFO): DAT read: Rx Time:04:08:24.1775 

2025-10-25T04:08:24.916Z,1761365304.916 [DAT](INFO): Rx dataTimestamp_ set to:1761365304.915915
2025-10-25T04:08:24.918Z,1761365304.918 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:24.918Z,1761365304.918 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-10-25T04:08:24.919Z,1761365304.919 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.864143
2025-10-25T04:08:24.992Z,1761365304.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880953,0.454396,-0.132086],[-0.471219,0.867932,-0.156996],[0.043303,0.200547,0.978727]]
2025-10-25T04:08:25.019Z,1761365305.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.501764 s,
      deltaX: 0.200000 m,
      approachRate: 0.398593 m/s,
      rangeRepo size: 4

2025-10-25T04:08:25.020Z,1761365305.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:25.166Z,1761365305.166 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.110592
2025-10-25T04:08:25.416Z,1761365305.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882903,0.451096,-0.130363],[-0.467657,0.869706,-0.157826],[0.042183,0.200310,0.978824]]
2025-10-25T04:08:25.418Z,1761365305.418 [DAT](INFO): DAT read: Rx Time:04:08:24.6774 

2025-10-25T04:08:25.419Z,1761365305.419 [DAT](INFO): Rx dataTimestamp_ set to:1761365305.418291
2025-10-25T04:08:25.420Z,1761365305.420 [DAT](INFO): DAT read: Range 10 to 50 :    15.3 m (trip time 10.2 ms) speed -0.2

2025-10-25T04:08:25.421Z,1761365305.421 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-10-25T04:08:25.421Z,1761365305.421 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.366512
2025-10-25T04:08:25.522Z,1761365305.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.502376 s,
      deltaX: -0.200000 m,
      approachRate: -0.398108 m/s,
      rangeRepo size: 4

2025-10-25T04:08:25.522Z,1761365305.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:25.670Z,1761365305.670 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.614567
2025-10-25T04:08:25.922Z,1761365305.922 [DAT](INFO): DAT read: Rx Time:04:08:25.1776 

2025-10-25T04:08:25.922Z,1761365305.922 [DAT](INFO): Rx dataTimestamp_ set to:1761365305.921956
2025-10-25T04:08:25.923Z,1761365305.923 [DAT](INFO): DAT read: Range 10 to 50 :    15.6 m (trip time 10.4 ms) speed 0.0

2025-10-25T04:08:25.924Z,1761365305.924 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-10-25T04:08:25.925Z,1761365305.925 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.870289
2025-10-25T04:08:25.966Z,1761365305.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883856,0.449462,-0.129548],[-0.465900,0.870576,-0.158225],[0.041665,0.200205,0.978868]]
2025-10-25T04:08:26.019Z,1761365306.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.503665 s,
      deltaX: 0.300000 m,
      approachRate: 0.595634 m/s,
      rangeRepo size: 4

2025-10-25T04:08:26.020Z,1761365306.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:26.174Z,1761365306.174 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.118526
2025-10-25T04:08:26.333Z,1761365306.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884871,0.447714,-0.128666],[-0.464018,0.871507,-0.158628],[0.041113,0.200069,0.978919]]
2025-10-25T04:08:26.352Z,1761365306.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:26.426Z,1761365306.426 [DAT](INFO): DAT read: Rx Time:04:08:25.6775 

2025-10-25T04:08:26.427Z,1761365306.427 [DAT](INFO): Rx dataTimestamp_ set to:1761365306.426385
2025-10-25T04:08:26.428Z,1761365306.428 [DAT](INFO): DAT read: Range 10 to 50 :    15.5 m (trip time 10.3 ms) speed 0.0

2025-10-25T04:08:26.429Z,1761365306.429 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-10-25T04:08:26.430Z,1761365306.430 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.374874
2025-10-25T04:08:26.678Z,1761365306.678 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.622883
2025-10-25T04:08:26.787Z,1761365306.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.504429 s,
      deltaX: -0.100000 m,
      approachRate: -0.198245 m/s,
      rangeRepo size: 4

2025-10-25T04:08:26.787Z,1761365306.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:26.930Z,1761365306.930 [DAT](INFO): DAT read: Rx Time:04:08:26.1773 

2025-10-25T04:08:26.930Z,1761365306.930 [DAT](INFO): Rx dataTimestamp_ set to:1761365306.929954
2025-10-25T04:08:26.932Z,1761365306.932 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed -0.5

2025-10-25T04:08:26.933Z,1761365306.933 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-10-25T04:08:26.935Z,1761365306.935 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.879402
2025-10-25T04:08:27.142Z,1761365307.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886848,0.444273,-0.126973],[-0.460325,0.873302,-0.159516],[0.040018,0.199915,0.978996]]
2025-10-25T04:08:27.163Z,1761365307.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503569 s,
      deltaX: -0.300000 m,
      approachRate: -0.595748 m/s,
      rangeRepo size: 4

2025-10-25T04:08:27.164Z,1761365307.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:27.183Z,1761365307.183 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.127872
2025-10-25T04:08:27.434Z,1761365307.434 [DAT](INFO): DAT read: Rx Time:04:08:26.6772 

2025-10-25T04:08:27.434Z,1761365307.434 [DAT](INFO): Rx dataTimestamp_ set to:1761365307.433987
2025-10-25T04:08:27.435Z,1761365307.435 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:27.436Z,1761365307.436 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-10-25T04:08:27.437Z,1761365307.437 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.382156
2025-10-25T04:08:27.592Z,1761365307.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887715,0.442754,-0.126220],[-0.458692,0.874098,-0.159858],[0.039551,0.199805,0.979037]]
2025-10-25T04:08:27.612Z,1761365307.612 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.42,  67.72,  76.57
2025-10-25T04:08:27.650Z,1761365307.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504033 s,
      deltaX: -0.200000 m,
      approachRate: -0.396799 m/s,
      rangeRepo size: 4

2025-10-25T04:08:27.650Z,1761365307.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:27.686Z,1761365307.686 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.630692
2025-10-25T04:08:27.938Z,1761365307.938 [DAT](INFO): DAT read: Rx Time:04:08:27.1773 

2025-10-25T04:08:27.939Z,1761365307.939 [DAT](INFO): Rx dataTimestamp_ set to:1761365307.938417
2025-10-25T04:08:27.940Z,1761365307.940 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:08:27.941Z,1761365307.941 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-10-25T04:08:27.942Z,1761365307.942 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.886597
2025-10-25T04:08:28.057Z,1761365308.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888726,0.440805,-0.125923],[-0.456740,0.874996,-0.160530],[0.039420,0.200181,0.978966]]
2025-10-25T04:08:28.085Z,1761365308.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.504430 s,
      deltaX: 0.200000 m,
      approachRate: 0.396487 m/s,
      rangeRepo size: 4

2025-10-25T04:08:28.086Z,1761365308.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:28.190Z,1761365308.190 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.134800
2025-10-25T04:08:28.442Z,1761365308.442 [DAT](INFO): DAT read: Rx Time:04:08:27.6772 

2025-10-25T04:08:28.443Z,1761365308.443 [DAT](INFO): Rx dataTimestamp_ set to:1761365308.442128
2025-10-25T04:08:28.445Z,1761365308.445 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:28.445Z,1761365308.445 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-10-25T04:08:28.446Z,1761365308.446 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.391132
2025-10-25T04:08:28.606Z,1761365308.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503711 s,
      deltaX: -0.200000 m,
      approachRate: -0.397053 m/s,
      rangeRepo size: 4

2025-10-25T04:08:28.606Z,1761365308.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:28.694Z,1761365308.694 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.639317
2025-10-25T04:08:28.946Z,1761365308.946 [DAT](INFO): DAT read: Rx Time:04:08:28.1773 

2025-10-25T04:08:28.946Z,1761365308.946 [DAT](INFO): Rx dataTimestamp_ set to:1761365308.945841
2025-10-25T04:08:28.947Z,1761365308.947 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.2

2025-10-25T04:08:28.948Z,1761365308.948 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-10-25T04:08:28.952Z,1761365308.952 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.896496
2025-10-25T04:08:29.019Z,1761365309.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890594,0.437490,-0.124279],[-0.453157,0.876812,-0.160781],[0.038629,0.199508,0.979134]]
2025-10-25T04:08:29.096Z,1761365309.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503713 s,
      deltaX: 0.200000 m,
      approachRate: 0.397051 m/s,
      rangeRepo size: 4

2025-10-25T04:08:29.101Z,1761365309.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:29.199Z,1761365309.199 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.144470
2025-10-25T04:08:29.451Z,1761365309.451 [DAT](INFO): DAT read: Rx Time:04:08:28.6772 

2025-10-25T04:08:29.451Z,1761365309.451 [DAT](INFO): Rx dataTimestamp_ set to:1761365309.450906
2025-10-25T04:08:29.454Z,1761365309.454 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-10-25T04:08:29.454Z,1761365309.454 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-10-25T04:08:29.457Z,1761365309.457 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.401222
2025-10-25T04:08:29.547Z,1761365309.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.505065 s,
      deltaX: -0.200000 m,
      approachRate: -0.395988 m/s,
      rangeRepo size: 4

2025-10-25T04:08:29.553Z,1761365309.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:29.703Z,1761365309.703 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.648033
2025-10-25T04:08:29.825Z,1761365309.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891451,0.435916,-0.123661],[-0.451472,0.877728,-0.160517],[0.038568,0.198923,0.979256]]
2025-10-25T04:08:29.870Z,1761365309.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:29.954Z,1761365309.954 [DAT](INFO): DAT read: Rx Time:04:08:29.1773 

2025-10-25T04:08:29.955Z,1761365309.955 [DAT](INFO): Rx dataTimestamp_ set to:1761365309.954840
2025-10-25T04:08:29.957Z,1761365309.957 [DAT](INFO): DAT read: Range 10 to 50 :    15.2 m (trip time 10.1 ms) speed 0.0

2025-10-25T04:08:29.958Z,1761365309.958 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-10-25T04:08:29.960Z,1761365309.960 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.904575
2025-10-25T04:08:30.206Z,1761365310.206 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.150684
2025-10-25T04:08:30.219Z,1761365310.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892071,0.434587,-0.123867],[-0.450222,0.878289,-0.160961],[0.038839,0.199357,0.979157]]
2025-10-25T04:08:30.239Z,1761365310.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.503934 s,
      deltaX: 0.200000 m,
      approachRate: 0.396877 m/s,
      rangeRepo size: 4

2025-10-25T04:08:30.240Z,1761365310.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:30.458Z,1761365310.458 [DAT](INFO): DAT read: Rx Time:04:08:29.6772 

2025-10-25T04:08:30.459Z,1761365310.459 [DAT](INFO): Rx dataTimestamp_ set to:1761365310.458412
2025-10-25T04:08:30.461Z,1761365310.461 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:30.462Z,1761365310.462 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-10-25T04:08:30.462Z,1761365310.462 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.407436
2025-10-25T04:08:30.623Z,1761365310.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892636,0.433399,-0.123961],[-0.449084,0.878812,-0.161283],[0.039039,0.199636,0.979092]]
2025-10-25T04:08:30.680Z,1761365310.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503572 s,
      deltaX: -0.200000 m,
      approachRate: -0.397162 m/s,
      rangeRepo size: 4

2025-10-25T04:08:30.681Z,1761365310.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:30.711Z,1761365310.711 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.655685
2025-10-25T04:08:30.962Z,1761365310.962 [DAT](INFO): DAT read: Rx Time:04:08:30.1772 

2025-10-25T04:08:30.963Z,1761365310.963 [DAT](INFO): Rx dataTimestamp_ set to:1761365310.962496
2025-10-25T04:08:30.964Z,1761365310.964 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:30.965Z,1761365310.965 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-10-25T04:08:30.966Z,1761365310.966 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.910667
2025-10-25T04:08:31.037Z,1761365311.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893074,0.432397,-0.124309],[-0.448172,0.879257,-0.161396],[0.039513,0.199851,0.979029]]
2025-10-25T04:08:31.057Z,1761365311.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504084 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:31.057Z,1761365311.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:31.213Z,1761365311.213 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.158512
2025-10-25T04:08:31.431Z,1761365311.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893456,0.431578,-0.124406],[-0.447383,0.879674,-0.161313],[0.039817,0.199783,0.979031]]
2025-10-25T04:08:31.451Z,1761365311.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:31.466Z,1761365311.466 [DAT](INFO): DAT read: Rx Time:04:08:30.6771 

2025-10-25T04:08:31.467Z,1761365311.467 [DAT](INFO): Rx dataTimestamp_ set to:1761365311.466300
2025-10-25T04:08:31.468Z,1761365311.468 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:31.469Z,1761365311.469 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-10-25T04:08:31.470Z,1761365311.470 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.414616
2025-10-25T04:08:31.719Z,1761365311.719 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.664139
2025-10-25T04:08:31.833Z,1761365311.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893659,0.431107,-0.124584],[-0.446939,0.879968,-0.160938],[0.040249,0.199505,0.979070]]
2025-10-25T04:08:31.890Z,1761365311.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503804 s,
      deltaX: -0.100000 m,
      approachRate: -0.198491 m/s,
      rangeRepo size: 4

2025-10-25T04:08:31.890Z,1761365311.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:31.971Z,1761365311.971 [DAT](INFO): DAT read: Rx Time:04:08:31.1772 

2025-10-25T04:08:31.971Z,1761365311.971 [DAT](INFO): Rx dataTimestamp_ set to:1761365311.970738
2025-10-25T04:08:31.973Z,1761365311.973 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.1

2025-10-25T04:08:31.974Z,1761365311.974 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-10-25T04:08:31.976Z,1761365311.976 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.920753
2025-10-25T04:08:32.222Z,1761365312.222 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.166519
2025-10-25T04:08:32.290Z,1761365312.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504438 s,
      deltaX: 0.100000 m,
      approachRate: 0.198241 m/s,
      rangeRepo size: 4

2025-10-25T04:08:32.291Z,1761365312.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:32.474Z,1761365312.474 [DAT](INFO): DAT read: Rx Time:04:08:31.6771 

2025-10-25T04:08:32.474Z,1761365312.474 [DAT](INFO): Rx dataTimestamp_ set to:1761365312.473927
2025-10-25T04:08:32.475Z,1761365312.475 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:32.478Z,1761365312.478 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-10-25T04:08:32.487Z,1761365312.487 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.429928
2025-10-25T04:08:32.653Z,1761365312.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894140,0.429853,-0.125460],[-0.445870,0.880553,-0.160707],[0.041394,0.199633,0.978996]]
2025-10-25T04:08:32.722Z,1761365312.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503189 s,
      deltaX: -0.100000 m,
      approachRate: -0.198733 m/s,
      rangeRepo size: 4

2025-10-25T04:08:32.722Z,1761365312.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:32.726Z,1761365312.726 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.670666
2025-10-25T04:08:32.979Z,1761365312.979 [DAT](INFO): DAT read: Rx Time:04:08:32.1772 

2025-10-25T04:08:32.979Z,1761365312.979 [DAT](INFO): Rx dataTimestamp_ set to:1761365312.978727
2025-10-25T04:08:32.980Z,1761365312.980 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:32.981Z,1761365312.981 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-10-25T04:08:32.982Z,1761365312.982 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.926880
2025-10-25T04:08:33.138Z,1761365313.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894376,0.429198,-0.126019],[-0.445335,0.880833,-0.160653],[0.042050,0.199805,0.978933]]
2025-10-25T04:08:33.158Z,1761365313.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504800 s,
      deltaX: 0.100000 m,
      approachRate: 0.198099 m/s,
      rangeRepo size: 4

2025-10-25T04:08:33.158Z,1761365313.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:33.231Z,1761365313.231 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.176014
2025-10-25T04:08:33.482Z,1761365313.482 [DAT](INFO): DAT read: Rx Time:04:08:32.6771 

2025-10-25T04:08:33.482Z,1761365313.482 [DAT](INFO): Rx dataTimestamp_ set to:1761365313.481892
2025-10-25T04:08:33.483Z,1761365313.483 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:33.484Z,1761365313.484 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-10-25T04:08:33.485Z,1761365313.485 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.430267
2025-10-25T04:08:33.540Z,1761365313.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894472,0.428859,-0.126493],[-0.445087,0.880996,-0.160444],[0.042632,0.199813,0.978906]]
2025-10-25T04:08:33.627Z,1761365313.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.503165 s,
      deltaX: -0.100000 m,
      approachRate: -0.198743 m/s,
      rangeRepo size: 4

2025-10-25T04:08:33.633Z,1761365313.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:33.734Z,1761365313.734 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.678600
2025-10-25T04:08:33.941Z,1761365313.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894771,0.428045,-0.127130],[-0.444422,0.881300,-0.160623],[0.043286,0.200220,0.978794]]
2025-10-25T04:08:33.986Z,1761365313.986 [DAT](INFO): DAT read: Rx Time:04:08:33.1772 

2025-10-25T04:08:33.986Z,1761365313.986 [DAT](INFO): Rx dataTimestamp_ set to:1761365313.986004
2025-10-25T04:08:33.988Z,1761365313.988 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.1

2025-10-25T04:08:33.988Z,1761365313.988 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-10-25T04:08:33.990Z,1761365313.990 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.934940
2025-10-25T04:08:34.033Z,1761365314.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504112 s,
      deltaX: 0.100000 m,
      approachRate: 0.198369 m/s,
      rangeRepo size: 4

2025-10-25T04:08:34.034Z,1761365314.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:34.238Z,1761365314.238 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.182976
2025-10-25T04:08:34.419Z,1761365314.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895095,0.427232,-0.127582],[-0.443718,0.881635,-0.160733],[0.043811,0.200482,0.978717]]
2025-10-25T04:08:34.460Z,1761365314.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:34.490Z,1761365314.490 [DAT](INFO): DAT read: Rx Time:04:08:33.6771 

2025-10-25T04:08:34.491Z,1761365314.491 [DAT](INFO): Rx dataTimestamp_ set to:1761365314.490460
2025-10-25T04:08:34.492Z,1761365314.492 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:34.493Z,1761365314.493 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-10-25T04:08:34.495Z,1761365314.495 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.439583
2025-10-25T04:08:34.742Z,1761365314.742 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.687042
2025-10-25T04:08:34.880Z,1761365314.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895896,0.425277,-0.128492],[-0.441991,0.882440,-0.161072],[0.044886,0.201096,0.978543]]
2025-10-25T04:08:34.942Z,1761365314.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504456 s,
      deltaX: -0.100000 m,
      approachRate: -0.198234 m/s,
      rangeRepo size: 4

2025-10-25T04:08:34.942Z,1761365314.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:34.996Z,1761365314.996 [DAT](INFO): DAT read: Rx Time:04:08:34.1771 

2025-10-25T04:08:34.997Z,1761365314.997 [DAT](INFO): Rx dataTimestamp_ set to:1761365314.996476
2025-10-25T04:08:34.998Z,1761365314.998 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:34.999Z,1761365314.999 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-10-25T04:08:34.999Z,1761365314.999 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.944530
2025-10-25T04:08:35.250Z,1761365315.250 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.194786
2025-10-25T04:08:35.277Z,1761365315.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896206,0.424596,-0.128580],[-0.441332,0.882794,-0.160937],[0.045176,0.200979,0.978553]]
2025-10-25T04:08:35.324Z,1761365315.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.506016 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:35.324Z,1761365315.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:35.502Z,1761365315.502 [DAT](INFO): DAT read: Rx Time:04:08:34.6770 

2025-10-25T04:08:35.502Z,1761365315.502 [DAT](INFO): Rx dataTimestamp_ set to:1761365315.501905
2025-10-25T04:08:35.503Z,1761365315.503 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed -0.1

2025-10-25T04:08:35.504Z,1761365315.504 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-10-25T04:08:35.505Z,1761365315.505 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.450134
2025-10-25T04:08:35.684Z,1761365315.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896709,0.423410,-0.128982],[-0.440250,0.883315,-0.161045],[0.045744,0.201194,0.978483]]
2025-10-25T04:08:35.749Z,1761365315.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.505429 s,
      deltaX: -0.200000 m,
      approachRate: -0.395703 m/s,
      rangeRepo size: 4

2025-10-25T04:08:35.750Z,1761365315.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:35.755Z,1761365315.755 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.699860
2025-10-25T04:08:36.006Z,1761365316.006 [DAT](INFO): DAT read: Rx Time:04:08:35.1771 

2025-10-25T04:08:36.006Z,1761365316.006 [DAT](INFO): Rx dataTimestamp_ set to:1761365316.006015
2025-10-25T04:08:36.008Z,1761365316.008 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.1

2025-10-25T04:08:36.008Z,1761365316.008 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-10-25T04:08:36.010Z,1761365316.010 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.954178
2025-10-25T04:08:36.128Z,1761365316.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897000,0.422748,-0.129132],[-0.439617,0.883672,-0.160814],[0.046126,0.201019,0.978501]]
2025-10-25T04:08:36.165Z,1761365316.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504110 s,
      deltaX: 0.200000 m,
      approachRate: 0.396738 m/s,
      rangeRepo size: 4

2025-10-25T04:08:36.165Z,1761365316.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:36.258Z,1761365316.258 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.202698
2025-10-25T04:08:36.511Z,1761365316.511 [DAT](INFO): DAT read: Rx Time:04:08:35.6770 

2025-10-25T04:08:36.512Z,1761365316.512 [DAT](INFO): Rx dataTimestamp_ set to:1761365316.511307
2025-10-25T04:08:36.513Z,1761365316.513 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed -0.2

2025-10-25T04:08:36.514Z,1761365316.514 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-10-25T04:08:36.515Z,1761365316.515 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.459808
2025-10-25T04:08:36.539Z,1761365316.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897582,0.421423,-0.129422],[-0.438381,0.884243,-0.161048],[0.046571,0.201290,0.978424]]
2025-10-25T04:08:36.666Z,1761365316.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.505292 s,
      deltaX: -0.200000 m,
      approachRate: -0.395810 m/s,
      rangeRepo size: 4

2025-10-25T04:08:36.667Z,1761365316.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:36.762Z,1761365316.762 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.707344
2025-10-25T04:08:37.014Z,1761365317.014 [DAT](INFO): DAT read: Rx Time:04:08:36.1772 

2025-10-25T04:08:37.014Z,1761365317.014 [DAT](INFO): Rx dataTimestamp_ set to:1761365317.013953
2025-10-25T04:08:37.015Z,1761365317.015 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:37.016Z,1761365317.016 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-10-25T04:08:37.017Z,1761365317.017 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.962135
2025-10-25T04:08:37.107Z,1761365317.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897879,0.420734,-0.129598],[-0.437733,0.884588,-0.160918],[0.046937,0.201214,0.978422]]
2025-10-25T04:08:37.156Z,1761365317.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.502646 s,
      deltaX: 0.300000 m,
      approachRate: 0.596842 m/s,
      rangeRepo size: 4

2025-10-25T04:08:37.157Z,1761365317.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:37.265Z,1761365317.265 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.210503
2025-10-25T04:08:37.518Z,1761365317.518 [DAT](INFO): DAT read: Rx Time:04:08:36.6771 

2025-10-25T04:08:37.518Z,1761365317.518 [DAT](INFO): Rx dataTimestamp_ set to:1761365317.518210
2025-10-25T04:08:37.520Z,1761365317.520 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:37.521Z,1761365317.521 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-10-25T04:08:37.521Z,1761365317.521 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.466492
2025-10-25T04:08:37.552Z,1761365317.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898386,0.419542,-0.129949],[-0.436638,0.885092,-0.161119],[0.047420,0.201487,0.978343]]
2025-10-25T04:08:37.602Z,1761365317.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504257 s,
      deltaX: -0.100000 m,
      approachRate: -0.198312 m/s,
      rangeRepo size: 4

2025-10-25T04:08:37.604Z,1761365317.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:37.770Z,1761365317.770 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.714615
2025-10-25T04:08:38.022Z,1761365318.022 [DAT](INFO): DAT read: Rx Time:04:08:37.1772 

2025-10-25T04:08:38.023Z,1761365318.023 [DAT](INFO): Rx dataTimestamp_ set to:1761365318.022547
2025-10-25T04:08:38.024Z,1761365318.024 [DAT](INFO): DAT read: Range 10 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-10-25T04:08:38.025Z,1761365318.025 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-10-25T04:08:38.026Z,1761365318.026 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.970715
2025-10-25T04:08:38.093Z,1761365318.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898907,0.418241,-0.130537],[-0.435447,0.885789,-0.160510],[0.048496,0.201126,0.978364]]
2025-10-25T04:08:38.144Z,1761365318.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.504337 s,
      deltaX: 0.100000 m,
      approachRate: 0.198281 m/s,
      rangeRepo size: 4

2025-10-25T04:08:38.157Z,1761365318.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:38.274Z,1761365318.274 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.218891
2025-10-25T04:08:38.526Z,1761365318.526 [DAT](INFO): DAT read: Rx Time:04:08:37.6771 

2025-10-25T04:08:38.527Z,1761365318.527 [DAT](INFO): Rx dataTimestamp_ set to:1761365318.526581
2025-10-25T04:08:38.528Z,1761365318.528 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-10-25T04:08:38.529Z,1761365318.529 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-10-25T04:08:38.530Z,1761365318.530 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.474735
2025-10-25T04:08:38.613Z,1761365318.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899157,0.417692,-0.130574],[-0.434887,0.886157,-0.159994],[0.048881,0.200645,0.978444]]
2025-10-25T04:08:38.662Z,1761365318.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504034 s,
      deltaX: -0.100000 m,
      approachRate: -0.198400 m/s,
      rangeRepo size: 4

2025-10-25T04:08:38.664Z,1761365318.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:38.779Z,1761365318.779 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.723419
2025-10-25T04:08:38.987Z,1761365318.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899429,0.416958,-0.131049],[-0.434241,0.886542,-0.159620],[0.049625,0.200474,0.978441]]
2025-10-25T04:08:39.038Z,1761365319.038 [DAT](INFO): DAT read: Rx Time:04:08:38.1771 

2025-10-25T04:08:39.038Z,1761365319.038 [DAT](INFO): Rx dataTimestamp_ set to:1761365319.037960
2025-10-25T04:08:39.039Z,1761365319.039 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed 0.3

2025-10-25T04:08:39.040Z,1761365319.040 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-10-25T04:08:39.041Z,1761365319.041 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.986095
2025-10-25T04:08:39.054Z,1761365319.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.511379 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-10-25T04:08:39.054Z,1761365319.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:39.290Z,1761365319.290 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.235241
2025-10-25T04:08:39.479Z,1761365319.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-10-25T04:08:39.542Z,1761365319.542 [DAT](INFO): DAT read: Rx Time:04:08:38.6770 

2025-10-25T04:08:39.543Z,1761365319.543 [DAT](INFO): Rx dataTimestamp_ set to:1761365319.542591
2025-10-25T04:08:39.545Z,1761365319.545 [DAT](INFO): DAT read: Bearing 169.5,   0.3 (Local)

2025-10-25T04:08:39.545Z,1761365319.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.5,   0.3 (Local)

2025-10-25T04:08:39.547Z,1761365319.547 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed -0.2

2025-10-25T04:08:39.557Z,1761365319.557 [DAT](INFO): DAT read: 04:08:38.6770 LVL= 31392, 27841, 24274, 32755, AGC= 64, IDX= 512, 0.15, 2.208,-2.165, 1.910, 2.796, PHS=-0.500, 1.370,-0.889, RAW= 339.3,   0.2, CAL= 340.5,  -0.3, ROT= 169.5,   0.3

2025-10-25T04:08:39.558Z,1761365319.558 [DAT](INFO): got valid direction response:
 04:08:38.6770 LVL= 31392, 27841, 24274, 32755, AGC= 64, IDX= 512, 0.15, 2.208,-2.165, 1.910, 2.796, PHS=-0.500, 1.370,-0.889, RAW= 339.3,   0.2, CAL= 340.5,  -0.3, ROT= 169.5,   0.3

2025-10-25T04:08:39.558Z,1761365319.558 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-10-25T04:08:39.560Z,1761365319.560 [DAT](INFO): direction in FSK: [-0.983241,0.182233,-0.005236]
2025-10-25T04:08:39.573Z,1761365319.573 [DAT](INFO): publishing direction and range info
2025-10-25T04:08:39.582Z,1761365319.582 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.526894
2025-10-25T04:08:39.787Z,1761365319.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900234,0.414940,-0.131923],[-0.432416,0.887475,-0.159388],[0.050942,0.200532,0.978362]]
2025-10-25T04:08:39.794Z,1761365319.794 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.738853
2025-10-25T04:08:39.917Z,1761365319.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.504631 s,
      deltaX: -0.200000 m,
      approachRate: -0.396329 m/s,
      rangeRepo size: 4

2025-10-25T04:08:39.919Z,1761365319.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.629172 m,
      bearing: 143.996566 deg,
      lat: 36.779461 deg,
      lon: -121.859724 deg,
      deltaT: 58.000271 s,
      deltaX: -0.797282 m,
      approachRate: -0.013746 m/s,
      posRepo size: 4

2025-10-25T04:08:39.920Z,1761365319.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:40.047Z,1761365320.047 [DAT](INFO): DAT read: Rx Time:04:08:39.1771 

2025-10-25T04:08:40.047Z,1761365320.047 [DAT](INFO): Rx dataTimestamp_ set to:1761365320.046714
2025-10-25T04:08:40.048Z,1761365320.048 [DAT](INFO): DAT read: Range 10 to 50 :    14.9 m (trip time 9.9 ms) speed -0.1

2025-10-25T04:08:40.049Z,1761365320.049 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-10-25T04:08:40.050Z,1761365320.050 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.994907
2025-10-25T04:08:40.192Z,1761365320.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900598,0.413975,-0.132470],[-0.431572,0.887895,-0.159337],[0.051657,0.200669,0.978296]]
2025-10-25T04:08:40.256Z,1761365320.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.504123 s,
      deltaX: 0.200000 m,
      approachRate: 0.396728 m/s,
      rangeRepo size: 4

2025-10-25T04:08:40.260Z,1761365320.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:40.298Z,1761365320.298 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.243042
2025-10-25T04:08:40.550Z,1761365320.550 [DAT](INFO): DAT read: Rx Time:04:08:39.6770 

2025-10-25T04:08:40.550Z,1761365320.550 [DAT](INFO): Rx dataTimestamp_ set to:1761365320.549885
2025-10-25T04:08:40.551Z,1761365320.551 [DAT](INFO): DAT read: Range 10 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-10-25T04:08:40.552Z,1761365320.552 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-10-25T04:08:40.553Z,1761365320.553 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.498032
2025-10-25T04:08:40.617Z,1761365320.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900952,0.412961,-0.133226],[-0.430726,0.888307,-0.159331],[0.052548,0.200933,0.978195]]
2025-10-25T04:08:40.653Z,1761365320.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.503171 s,
      deltaX: -0.200000 m,
      approachRate: -0.397479 m/s,
      rangeRepo size: 4

2025-10-25T04:08:40.653Z,1761365320.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:40.802Z,1761365320.802 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.746750
2025-10-25T04:08:41.004Z,1761365321.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901155,0.412334,-0.133790],[-0.430201,0.888630,-0.158946],[0.053351,0.200791,0.978180]]
2025-10-25T04:08:41.054Z,1761365321.054 [DAT](INFO): DAT read: Rx Time:04:08:40.1769 

2025-10-25T04:08:41.054Z,1761365321.054 [DAT](INFO): Rx dataTimestamp_ set to:1761365321.053936
2025-10-25T04:08:41.055Z,1761365321.055 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-10-25T04:08:41.056Z,1761365321.056 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-10-25T04:08:41.057Z,1761365321.057 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.002110
2025-10-25T04:08:41.122Z,1761365321.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504051 s,
      deltaX: -0.099999 m,
      approachRate: -0.198391 m/s,
      rangeRepo size: 4

2025-10-25T04:08:41.122Z,1761365321.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:41.310Z,1761365321.310 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.254360
2025-10-25T04:08:41.463Z,1761365321.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:41.559Z,1761365321.559 [DAT](INFO): DAT read: Rx Time:04:08:40.6768 

2025-10-25T04:08:41.559Z,1761365321.559 [DAT](INFO): Rx dataTimestamp_ set to:1761365321.558874
2025-10-25T04:08:41.561Z,1761365321.561 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-10-25T04:08:41.562Z,1761365321.562 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-10-25T04:08:41.563Z,1761365321.563 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.507626
2025-10-25T04:08:41.810Z,1761365321.810 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.754646
2025-10-25T04:08:41.835Z,1761365321.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901325,0.411604,-0.134893],[-0.429639,0.889112,-0.157768],[0.054997,0.200155,0.978219]]
2025-10-25T04:08:41.969Z,1761365321.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504938 s,
      deltaX: -0.200001 m,
      approachRate: -0.396090 m/s,
      rangeRepo size: 4

2025-10-25T04:08:41.970Z,1761365321.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:42.063Z,1761365322.063 [DAT](INFO): DAT read: Rx Time:04:08:41.1769 

2025-10-25T04:08:42.063Z,1761365322.063 [DAT](INFO): Rx dataTimestamp_ set to:1761365322.062779
2025-10-25T04:08:42.065Z,1761365322.065 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed -0.1

2025-10-25T04:08:42.065Z,1761365322.065 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-10-25T04:08:42.066Z,1761365322.066 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.011154
2025-10-25T04:08:42.247Z,1761365322.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901585,0.410901,-0.135292],[-0.429013,0.889453,-0.157545],[0.055601,0.200083,0.978200]]
2025-10-25T04:08:42.267Z,1761365322.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503905 s,
      deltaX: 0.200001 m,
      approachRate: 0.396902 m/s,
      rangeRepo size: 4

2025-10-25T04:08:42.267Z,1761365322.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:42.314Z,1761365322.314 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.258755
2025-10-25T04:08:42.566Z,1761365322.566 [DAT](INFO): DAT read: Rx Time:04:08:41.6768 

2025-10-25T04:08:42.566Z,1761365322.566 [DAT](INFO): Rx dataTimestamp_ set to:1761365322.565970
2025-10-25T04:08:42.567Z,1761365322.567 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-10-25T04:08:42.568Z,1761365322.568 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-10-25T04:08:42.569Z,1761365322.569 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.514168
2025-10-25T04:08:42.683Z,1761365322.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901935,0.409867,-0.136096],[-0.428158,0.889858,-0.157587],[0.056517,0.200404,0.978082]]
2025-10-25T04:08:42.775Z,1761365322.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.503191 s,
      deltaX: -0.200001 m,
      approachRate: -0.397465 m/s,
      rangeRepo size: 4

2025-10-25T04:08:42.781Z,1761365322.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:42.818Z,1761365322.818 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.762779
2025-10-25T04:08:43.070Z,1761365323.070 [DAT](INFO): DAT read: Rx Time:04:08:42.1769 

2025-10-25T04:08:43.070Z,1761365323.070 [DAT](INFO): Rx dataTimestamp_ set to:1761365323.070030
2025-10-25T04:08:43.072Z,1761365323.072 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-10-25T04:08:43.072Z,1761365323.072 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-10-25T04:08:43.073Z,1761365323.073 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.018181
2025-10-25T04:08:43.182Z,1761365323.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504060 s,
      deltaX: 0.200001 m,
      approachRate: 0.396780 m/s,
      rangeRepo size: 4

2025-10-25T04:08:43.183Z,1761365323.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:43.322Z,1761365323.322 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.267136
2025-10-25T04:08:43.512Z,1761365323.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:43.576Z,1761365323.576 [DAT](INFO): DAT read: Rx Time:04:08:42.6768 

2025-10-25T04:08:43.578Z,1761365323.578 [DAT](INFO): Rx dataTimestamp_ set to:1761365323.576022
2025-10-25T04:08:43.579Z,1761365323.579 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-10-25T04:08:43.579Z,1761365323.579 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-10-25T04:08:43.581Z,1761365323.581 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.525299
2025-10-25T04:08:43.826Z,1761365323.826 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.770679
2025-10-25T04:08:43.883Z,1761365323.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902444,0.408367,-0.137225],[-0.426818,0.890762,-0.156106],[0.058486,0.199447,0.978162]]
2025-10-25T04:08:43.974Z,1761365323.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.505992 s,
      deltaX: -0.200001 m,
      approachRate: -0.395265 m/s,
      rangeRepo size: 4

2025-10-25T04:08:43.975Z,1761365323.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:44.079Z,1761365324.079 [DAT](INFO): DAT read: Rx Time:04:08:43.1769 

2025-10-25T04:08:44.079Z,1761365324.079 [DAT](INFO): Rx dataTimestamp_ set to:1761365324.078740
2025-10-25T04:08:44.080Z,1761365324.080 [DAT](INFO): DAT read: Range 10 to 50 :    14.6 m (trip time 9.7 ms) speed 0.3

2025-10-25T04:08:44.081Z,1761365324.081 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-10-25T04:08:44.082Z,1761365324.082 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.026897
2025-10-25T04:08:44.291Z,1761365324.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902828,0.407467,-0.137379],[-0.425943,0.891231,-0.155819],[0.058945,0.199194,0.978186]]
2025-10-25T04:08:44.330Z,1761365324.330 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.274723
2025-10-25T04:08:44.350Z,1761365324.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.502718 s,
      deltaX: 0.200001 m,
      approachRate: 0.397839 m/s,
      rangeRepo size: 4

2025-10-25T04:08:44.351Z,1761365324.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:44.582Z,1761365324.582 [DAT](INFO): DAT read: Rx Time:04:08:43.6767 

2025-10-25T04:08:44.582Z,1761365324.582 [DAT](INFO): Rx dataTimestamp_ set to:1761365324.581960
2025-10-25T04:08:44.583Z,1761365324.583 [DAT](INFO): DAT read: Range 10 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-10-25T04:08:44.584Z,1761365324.584 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-10-25T04:08:44.585Z,1761365324.585 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.530125
2025-10-25T04:08:44.692Z,1761365324.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903337,0.406284,-0.137536],[-0.424810,0.891764,-0.155862],[0.059325,0.199223,0.978157]]
2025-10-25T04:08:44.715Z,1761365324.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.503220 s,
      deltaX: -0.300000 m,
      approachRate: -0.596161 m/s,
      rangeRepo size: 4

2025-10-25T04:08:44.716Z,1761365324.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:44.836Z,1761365324.836 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.780933
2025-10-25T04:08:45.086Z,1761365325.086 [DAT](INFO): DAT read: Rx Time:04:08:44.1768 

2025-10-25T04:08:45.086Z,1761365325.086 [DAT](INFO): Rx dataTimestamp_ set to:1761365325.085978
2025-10-25T04:08:45.087Z,1761365325.087 [DAT](INFO): DAT read: Range 10 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-10-25T04:08:45.088Z,1761365325.088 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-10-25T04:08:45.089Z,1761365325.089 [DAT](INFO): ****** received valid address query ******
2025-10-25T04:08:45.089Z,1761365325.089 [DAT](INFO): ****** received valid ping request ******
2025-10-25T04:08:45.089Z,1761365325.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-10-25T04:08:45.101Z,1761365325.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904244,0.404171,-0.137803],[-0.422831,0.892550,-0.156742],[0.059646,0.200000,0.977979]]
2025-10-25T04:08:45.213Z,1761365325.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.504018 s,
      deltaX: 0.099999 m,
      approachRate: 0.198404 m/s,
      rangeRepo size: 4

2025-10-25T04:08:45.213Z,1761365325.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:45.339Z,1761365325.339 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:45.499Z,1761365325.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904964,0.402532,-0.137868],[-0.421262,0.893189,-0.157326],[0.059814,0.200453,0.977876]]
2025-10-25T04:08:45.519Z,1761365325.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:45.590Z,1761365325.590 [DAT](INFO): DAT read: user:344>

2025-10-25T04:08:45.591Z,1761365325.591 [DAT](INFO): DAT read: 50

2025-10-25T04:08:45.591Z,1761365325.591 [DAT](INFO): unknown deviceResponse_: 50

2025-10-25T04:08:45.592Z,1761365325.592 [DAT](INFO): DAT read: Ok

2025-10-25T04:08:45.593Z,1761365325.593 [DAT](INFO): unknown deviceResponse_: Ok

2025-10-25T04:08:45.593Z,1761365325.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:45.841Z,1761365325.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:45.903Z,1761365325.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905615,0.401065,-0.137871],[-0.419832,0.893811,-0.157616],[0.060016,0.200622,0.977829]]
2025-10-25T04:08:45.996Z,1761365325.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:46.094Z,1761365326.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:46.311Z,1761365326.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906153,0.399913,-0.137680],[-0.418646,0.894400,-0.157430],[0.060182,0.200295,0.977886]]
2025-10-25T04:08:46.346Z,1761365326.346 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:46.351Z,1761365326.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:46.597Z,1761365326.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:46.710Z,1761365326.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906578,0.399215,-0.136908],[-0.417769,0.894900,-0.156914],[0.059877,0.199451,0.978077]]
2025-10-25T04:08:46.735Z,1761365326.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:46.849Z,1761365326.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:47.101Z,1761365327.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:47.119Z,1761365327.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908013,0.396334,-0.135765],[-0.414713,0.896272,-0.157190],[0.059383,0.199034,0.978192]]
2025-10-25T04:08:47.168Z,1761365327.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:47.354Z,1761365327.354 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:47.548Z,1761365327.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908979,0.394146,-0.135665],[-0.412584,0.897107,-0.158030],[0.059419,0.199619,0.978070]]
2025-10-25T04:08:47.590Z,1761365327.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:47.605Z,1761365327.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:47.858Z,1761365327.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:48.019Z,1761365328.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909639,0.392767,-0.135242],[-0.411157,0.897706,-0.158349],[0.059214,0.199646,0.978077]]
2025-10-25T04:08:48.061Z,1761365328.061 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:08:48.071Z,1761365328.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:48.110Z,1761365328.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:48.362Z,1761365328.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:48.464Z,1761365328.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910701,0.390457,-0.134786],[-0.408847,0.898580,-0.159370],[0.058888,0.200245,0.977974]]
2025-10-25T04:08:48.484Z,1761365328.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:48.614Z,1761365328.614 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:48.868Z,1761365328.868 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:48.901Z,1761365328.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911227,0.389385,-0.134331],[-0.407702,0.899086,-0.159450],[0.058688,0.200062,0.978024]]
2025-10-25T04:08:48.958Z,1761365328.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:49.069Z,1761365329.069 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:08:49.117Z,1761365329.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:49.303Z,1761365329.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911984,0.387728,-0.133984],[-0.406024,0.899765,-0.159899],[0.058557,0.200226,0.977998]]
2025-10-25T04:08:49.341Z,1761365329.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:49.371Z,1761365329.371 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:49.621Z,1761365329.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:49.702Z,1761365329.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912390,0.386913,-0.133576],[-0.405131,0.900187,-0.159788],[0.058419,0.199904,0.978072]]
2025-10-25T04:08:49.722Z,1761365329.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:49.875Z,1761365329.875 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:50.104Z,1761365330.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913096,0.385336,-0.133309],[-0.403554,0.900800,-0.160325],[0.058306,0.200189,0.978021]]
2025-10-25T04:08:50.125Z,1761365330.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:50.156Z,1761365330.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:50.378Z,1761365330.378 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:50.545Z,1761365330.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913713,0.383980,-0.132994],[-0.402187,0.901307,-0.160910],[0.058082,0.200515,0.977968]]
2025-10-25T04:08:50.564Z,1761365330.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:50.630Z,1761365330.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:50.884Z,1761365330.884 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:50.956Z,1761365330.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914249,0.382750,-0.132859],[-0.400983,0.901736,-0.161509],[0.057986,0.200934,0.977887]]
2025-10-25T04:08:51.019Z,1761365331.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:51.133Z,1761365331.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:51.390Z,1761365331.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:51.401Z,1761365331.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914463,0.382267,-0.132777],[-0.400491,0.901949,-0.161540],[0.058007,0.200899,0.977893]]
2025-10-25T04:08:51.441Z,1761365331.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:51.643Z,1761365331.643 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:51.895Z,1761365331.895 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:51.922Z,1761365331.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914690,0.381840,-0.132439],[-0.399985,0.902222,-0.161266],[0.057912,0.200482,0.977984]]
2025-10-25T04:08:51.978Z,1761365331.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:52.145Z,1761365332.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:52.350Z,1761365332.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914682,0.381902,-0.132317],[-0.399996,0.902293,-0.160844],[0.057962,0.200047,0.978070]]
2025-10-25T04:08:52.369Z,1761365332.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:52.397Z,1761365332.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:52.650Z,1761365332.650 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:52.761Z,1761365332.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914870,0.381451,-0.132316],[-0.399537,0.902540,-0.160598],[0.058160,0.199792,0.978111]]
2025-10-25T04:08:52.781Z,1761365332.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:52.904Z,1761365332.904 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:53.153Z,1761365333.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:53.187Z,1761365333.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915089,0.380965,-0.132205],[-0.399024,0.902800,-0.160413],[0.058243,0.199545,0.978156]]
2025-10-25T04:08:53.292Z,1761365333.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:53.406Z,1761365333.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:53.657Z,1761365333.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:53.697Z,1761365333.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915520,0.379839,-0.132459],[-0.397987,0.903191,-0.160788],[0.058562,0.199921,0.978060]]
2025-10-25T04:08:53.716Z,1761365333.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:53.912Z,1761365333.912 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:54.097Z,1761365334.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915788,0.379167,-0.132532],[-0.397338,0.903478,-0.160782],[0.058777,0.199902,0.978051]]
2025-10-25T04:08:54.161Z,1761365334.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:54.169Z,1761365334.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:54.416Z,1761365334.416 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:54.497Z,1761365334.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916041,0.378607,-0.132387],[-0.396753,0.903745,-0.160722],[0.058793,0.199752,0.978081]]
2025-10-25T04:08:54.516Z,1761365334.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:54.669Z,1761365334.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:54.934Z,1761365334.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:54.959Z,1761365334.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916191,0.378146,-0.132662],[-0.396346,0.903948,-0.160588],[0.059194,0.199710,0.978065]]
2025-10-25T04:08:55.018Z,1761365335.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:55.185Z,1761365335.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:55.313Z,1761365335.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916406,0.377531,-0.132931],[-0.395797,0.904177,-0.160651],[0.059543,0.199835,0.978019]]
2025-10-25T04:08:55.332Z,1761365335.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:55.438Z,1761365335.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:55.689Z,1761365335.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:55.708Z,1761365335.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916589,0.376977,-0.133242],[-0.395315,0.904379,-0.160698],[0.059922,0.199967,0.977969]]
2025-10-25T04:08:55.740Z,1761365335.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:55.944Z,1761365335.944 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:56.116Z,1761365336.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916655,0.376789,-0.133318],[-0.395131,0.904500,-0.160474],[0.060122,0.199777,0.977995]]
2025-10-25T04:08:56.173Z,1761365336.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:56.194Z,1761365336.194 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:56.445Z,1761365336.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:56.528Z,1761365336.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916942,0.375978,-0.133633],[-0.394397,0.904812,-0.160519],[0.060561,0.199891,0.977945]]
2025-10-25T04:08:56.567Z,1761365336.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:56.697Z,1761365336.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:56.952Z,1761365336.952 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:56.954Z,1761365336.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917167,0.375401,-0.133710],[-0.393835,0.905082,-0.160377],[0.060813,0.199752,0.977957]]
2025-10-25T04:08:57.015Z,1761365337.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:57.202Z,1761365337.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:57.401Z,1761365337.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:57.453Z,1761365337.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:57.705Z,1761365337.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:57.788Z,1761365337.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918342,0.372194,-0.134607],[-0.390875,0.906297,-0.160753],[0.062163,0.200241,0.977773]]
2025-10-25T04:08:57.828Z,1761365337.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:57.960Z,1761365337.960 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:58.197Z,1761365338.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918541,0.371591,-0.134915],[-0.390331,0.906560,-0.160591],[0.062635,0.200171,0.977757]]
2025-10-25T04:08:58.211Z,1761365338.211 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:58.257Z,1761365338.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:58.461Z,1761365338.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:58.597Z,1761365338.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918891,0.370554,-0.135386],[-0.389409,0.906942,-0.160678],[0.063248,0.200366,0.977678]]
2025-10-25T04:08:58.618Z,1761365338.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:58.714Z,1761365338.714 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:58.978Z,1761365338.978 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:59.039Z,1761365339.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919047,0.370028,-0.135765],[-0.388950,0.907183,-0.160427],[0.063801,0.200246,0.977666]]
2025-10-25T04:08:59.096Z,1761365339.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:59.226Z,1761365339.226 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:59.478Z,1761365339.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:59.492Z,1761365339.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919179,0.369521,-0.136252],[-0.388536,0.907394,-0.160239],[0.064422,0.200227,0.977629]]
2025-10-25T04:08:59.531Z,1761365339.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:59.729Z,1761365339.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:08:59.899Z,1761365339.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919376,0.368835,-0.136781],[-0.387963,0.907644,-0.160208],[0.065058,0.200358,0.977560]]
2025-10-25T04:08:59.960Z,1761365339.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:08:59.984Z,1761365339.984 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:00.233Z,1761365340.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:00.375Z,1761365340.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919389,0.368562,-0.137428],[-0.387810,0.907749,-0.159987],[0.065785,0.200386,0.977506]]
2025-10-25T04:09:00.445Z,1761365340.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:00.486Z,1761365340.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:00.737Z,1761365340.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:00.824Z,1761365340.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919500,0.368031,-0.138109],[-0.387417,0.907934,-0.159887],[0.066550,0.200522,0.977426]]
2025-10-25T04:09:00.853Z,1761365340.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:00.991Z,1761365340.991 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:01.232Z,1761365341.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919559,0.367602,-0.138853],[-0.387131,0.908089,-0.159699],[0.067385,0.200606,0.977352]]
2025-10-25T04:09:01.241Z,1761365341.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:01.312Z,1761365341.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:01.494Z,1761365341.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:01.630Z,1761365341.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919534,0.367337,-0.139714],[-0.387015,0.908212,-0.159279],[0.068381,0.200534,0.977297]]
2025-10-25T04:09:01.650Z,1761365341.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:01.746Z,1761365341.746 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:01.000Z,1761365342.000 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:02.063Z,1761365342.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919314,0.367635,-0.140379],[-0.387388,0.908192,-0.158487],[0.069226,0.200081,0.977331]]
2025-10-25T04:09:02.117Z,1761365342.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:02.249Z,1761365342.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:02.438Z,1761365342.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919321,0.367302,-0.141204],[-0.387204,0.908324,-0.158181],[0.070159,0.200094,0.977262]]
2025-10-25T04:09:02.483Z,1761365342.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:02.512Z,1761365342.512 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:02.757Z,1761365342.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:02.845Z,1761365342.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919028,0.367707,-0.142052],[-0.387719,0.908241,-0.157394],[0.071143,0.199726,0.977266]]
2025-10-25T04:09:02.864Z,1761365342.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:03.010Z,1761365343.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:03.262Z,1761365343.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:03.347Z,1761365343.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:03.513Z,1761365343.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:03.654Z,1761365343.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919014,0.366897,-0.144224],[-0.387357,0.908398,-0.157379],[0.073271,0.200499,0.976950]]
2025-10-25T04:09:03.679Z,1761365343.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:03.765Z,1761365343.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:04.019Z,1761365344.019 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:04.153Z,1761365344.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:09:04.155Z,1761365344.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:04.271Z,1761365344.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:04.504Z,1761365344.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:04.523Z,1761365344.523 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:04.773Z,1761365344.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:04.864Z,1761365344.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918447,0.366856,-0.147888],[-0.387971,0.908337,-0.156214],[0.077024,0.200851,0.976589]]
2025-10-25T04:09:04.889Z,1761365344.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:05.028Z,1761365345.028 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:05.276Z,1761365345.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917880,0.367445,-0.149937],[-0.388860,0.908193,-0.154833],[0.079279,0.200423,0.976497]]
2025-10-25T04:09:05.278Z,1761365345.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:05.351Z,1761365345.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:05.530Z,1761365345.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:05.714Z,1761365345.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:05.782Z,1761365345.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:06.033Z,1761365346.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:06.116Z,1761365346.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917532,0.367561,-0.151772],[-0.389281,0.908150,-0.154024],[0.081219,0.200404,0.976341]]
2025-10-25T04:09:06.182Z,1761365346.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:06.286Z,1761365346.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:06.479Z,1761365346.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917632,0.366890,-0.152783],[-0.388841,0.908300,-0.154250],[0.082180,0.200953,0.976148]]
2025-10-25T04:09:06.498Z,1761365346.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:06.537Z,1761365346.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:06.789Z,1761365346.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:06.918Z,1761365346.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:07.041Z,1761365347.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:07.292Z,1761365347.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917685,0.366186,-0.154151],[-0.388404,0.908526,-0.154024],[0.083649,0.201219,0.975968]]
2025-10-25T04:09:07.294Z,1761365347.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:07.373Z,1761365347.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:07.545Z,1761365347.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:07.690Z,1761365347.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917643,0.366195,-0.154381],[-0.388416,0.908607,-0.153516],[0.084054,0.200837,0.976012]]
2025-10-25T04:09:07.711Z,1761365347.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:07.798Z,1761365347.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:08.049Z,1761365348.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:08.145Z,1761365348.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917845,0.365522,-0.154773],[-0.387836,0.908841,-0.153596],[0.084522,0.201004,0.975937]]
2025-10-25T04:09:08.210Z,1761365348.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:08.302Z,1761365348.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:08.500Z,1761365348.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917915,0.365199,-0.155122],[-0.387581,0.908961,-0.153525],[0.084933,0.201045,0.975893]]
2025-10-25T04:09:08.519Z,1761365348.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:08.554Z,1761365348.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:08.805Z,1761365348.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:08.902Z,1761365348.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918217,0.364387,-0.155244],[-0.386844,0.909194,-0.154006],[0.085029,0.201466,0.975798]]
2025-10-25T04:09:08.962Z,1761365348.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:09.057Z,1761365349.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:09.309Z,1761365349.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:09.320Z,1761365349.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918426,0.363779,-0.155430],[-0.386309,0.909367,-0.154329],[0.085201,0.201784,0.975717]]
2025-10-25T04:09:09.400Z,1761365349.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:09.562Z,1761365349.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:09.746Z,1761365349.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918591,0.363518,-0.155067],[-0.385988,0.909480,-0.154463],[0.084881,0.201742,0.975754]]
2025-10-25T04:09:09.790Z,1761365349.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:09.813Z,1761365349.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:10.066Z,1761365350.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:10.222Z,1761365350.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:10.317Z,1761365350.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:10.573Z,1761365350.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:10.613Z,1761365350.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918784,0.363379,-0.154243],[-0.385676,0.909623,-0.154401],[0.084197,0.201349,0.975894]]
2025-10-25T04:09:10.633Z,1761365350.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:10.821Z,1761365350.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:11.026Z,1761365351.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919212,0.362454,-0.153871],[-0.384741,0.909907,-0.155060],[0.083806,0.201734,0.975848]]
2025-10-25T04:09:11.046Z,1761365351.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:11.076Z,1761365351.076 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:11.325Z,1761365351.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:11.420Z,1761365351.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919328,0.362380,-0.153352],[-0.384556,0.909997,-0.154989],[0.083385,0.201458,0.975941]]
2025-10-25T04:09:11.497Z,1761365351.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:11.578Z,1761365351.578 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:11.825Z,1761365351.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919421,0.362341,-0.152889],[-0.384425,0.910048,-0.155016],[0.082968,0.201299,0.976010]]
2025-10-25T04:09:11.829Z,1761365351.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:11.868Z,1761365351.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:12.081Z,1761365352.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:12.229Z,1761365352.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919578,0.362170,-0.152349],[-0.384163,0.910123,-0.155226],[0.082438,0.201269,0.976061]]
2025-10-25T04:09:12.314Z,1761365352.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:12.336Z,1761365352.336 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:12.585Z,1761365352.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:12.635Z,1761365352.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919764,0.361947,-0.151751],[-0.383841,0.910218,-0.155467],[0.081855,0.201241,0.976116]]
2025-10-25T04:09:12.653Z,1761365352.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:12.838Z,1761365352.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:13.036Z,1761365353.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919652,0.362525,-0.151049],[-0.384244,0.910101,-0.155155],[0.081222,0.200729,0.976274]]
2025-10-25T04:09:13.067Z,1761365353.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:13.090Z,1761365353.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:13.341Z,1761365353.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:13.451Z,1761365353.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919849,0.362224,-0.150570],[-0.383874,0.910204,-0.155465],[0.080736,0.200804,0.976299]]
2025-10-25T04:09:13.505Z,1761365353.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:13.594Z,1761365353.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:13.845Z,1761365353.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:13.846Z,1761365353.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919831,0.362443,-0.150153],[-0.384007,0.910145,-0.155481],[0.080308,0.200676,0.976361]]
2025-10-25T04:09:13.870Z,1761365353.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:14.097Z,1761365354.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:14.250Z,1761365354.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920009,0.362133,-0.149813],[-0.383671,0.910202,-0.155975],[0.079876,0.200977,0.976334]]
2025-10-25T04:09:14.319Z,1761365354.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:14.349Z,1761365354.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:14.604Z,1761365354.604 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:14.727Z,1761365354.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919998,0.362328,-0.149408],[-0.383795,0.910123,-0.156132],[0.079409,0.200983,0.976371]]
2025-10-25T04:09:14.752Z,1761365354.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:14.857Z,1761365354.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:15.110Z,1761365355.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:15.147Z,1761365355.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919933,0.362751,-0.148778],[-0.384124,0.909902,-0.156613],[0.078562,0.201222,0.976390]]
2025-10-25T04:09:15.167Z,1761365355.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:15.362Z,1761365355.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:15.540Z,1761365355.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919511,0.363965,-0.148419],[-0.385215,0.909519,-0.156154],[0.078156,0.200759,0.976518]]
2025-10-25T04:09:15.590Z,1761365355.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:15.613Z,1761365355.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:15.865Z,1761365355.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:15.952Z,1761365355.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919341,0.364479,-0.148213],[-0.385698,0.909278,-0.156365],[0.077775,0.200918,0.976516]]
2025-10-25T04:09:15.971Z,1761365355.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:16.118Z,1761365356.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:16.369Z,1761365356.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:16.435Z,1761365356.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:16.622Z,1761365356.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:16.821Z,1761365356.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918541,0.366464,-0.148276],[-0.387678,0.908428,-0.156412],[0.077378,0.201154,0.976499]]
2025-10-25T04:09:16.870Z,1761365356.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:16.874Z,1761365356.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:17.126Z,1761365357.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:17.321Z,1761365357.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918059,0.367625,-0.148387],[-0.388841,0.907946,-0.156320],[0.077261,0.201210,0.976496]]
2025-10-25T04:09:17.377Z,1761365357.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:17.393Z,1761365357.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:17.629Z,1761365357.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:17.703Z,1761365357.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917511,0.368986,-0.148402],[-0.390167,0.907429,-0.156024],[0.077093,0.201055,0.976542]]
2025-10-25T04:09:17.721Z,1761365357.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:17.885Z,1761365357.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:18.107Z,1761365358.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916888,0.370478,-0.148537],[-0.391636,0.906870,-0.155589],[0.077061,0.200830,0.976590]]
2025-10-25T04:09:18.128Z,1761365358.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:18.134Z,1761365358.134 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:18.386Z,1761365358.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:18.515Z,1761365358.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916240,0.372130,-0.148404],[-0.393202,0.906282,-0.155065],[0.076792,0.200429,0.976694]]
2025-10-25T04:09:18.587Z,1761365358.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:18.637Z,1761365358.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:18.890Z,1761365358.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:19.054Z,1761365359.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:19.142Z,1761365359.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:19.197Z,1761365359.197 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:09:19.391Z,1761365359.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915290,0.374204,-0.149051],[-0.395375,0.905356,-0.154947],[0.076963,0.200752,0.976614]]
2025-10-25T04:09:19.393Z,1761365359.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:19.459Z,1761365359.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:19.645Z,1761365359.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:19.792Z,1761365359.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914667,0.375518,-0.149571],[-0.396764,0.904783,-0.154743],[0.077220,0.200882,0.976567]]
2025-10-25T04:09:19.833Z,1761365359.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:19.898Z,1761365359.898 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:20.149Z,1761365360.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:20.201Z,1761365360.201 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:09:20.207Z,1761365360.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913877,0.377263,-0.150004],[-0.398539,0.904089,-0.154240],[0.077428,0.200739,0.976580]]
2025-10-25T04:09:20.289Z,1761365360.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:20.403Z,1761365360.403 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:20.653Z,1761365360.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:20.717Z,1761365360.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912536,0.380136,-0.150910],[-0.401507,0.902902,-0.153493],[0.077909,0.200659,0.976558]]
2025-10-25T04:09:20.756Z,1761365360.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:20.906Z,1761365360.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:21.113Z,1761365361.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911915,0.381343,-0.151620],[-0.402823,0.902363,-0.153215],[0.078388,0.200795,0.976492]]
2025-10-25T04:09:21.156Z,1761365361.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:21.157Z,1761365361.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:21.410Z,1761365361.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:21.515Z,1761365361.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911144,0.382913,-0.152299],[-0.404470,0.901719,-0.152664],[0.078874,0.200699,0.976473]]
2025-10-25T04:09:21.575Z,1761365361.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:21.662Z,1761365361.662 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:21.913Z,1761365361.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:21.960Z,1761365361.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:22.165Z,1761365362.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:22.357Z,1761365362.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909761,0.385605,-0.153767],[-0.407358,0.900576,-0.151733],[0.079970,0.200679,0.976388]]
2025-10-25T04:09:22.407Z,1761365362.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:22.417Z,1761365362.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:22.669Z,1761365362.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:22.729Z,1761365362.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909234,0.386451,-0.154756],[-0.408388,0.900126,-0.151633],[0.080701,0.201071,0.976247]]
2025-10-25T04:09:22.747Z,1761365362.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:22.921Z,1761365362.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:23.133Z,1761365363.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908395,0.388006,-0.155790],[-0.410072,0.899494,-0.150834],[0.081608,0.200902,0.976206]]
2025-10-25T04:09:23.153Z,1761365363.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:23.173Z,1761365363.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:23.427Z,1761365363.427 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:23.542Z,1761365363.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907649,0.389356,-0.156766],[-0.411545,0.898948,-0.150076],[0.082491,0.200733,0.976167]]
2025-10-25T04:09:23.611Z,1761365363.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:23.678Z,1761365363.678 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:23.929Z,1761365363.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:23.945Z,1761365363.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907198,0.390040,-0.157671],[-0.412380,0.898617,-0.149765],[0.083271,0.200886,0.976069]]
2025-10-25T04:09:23.974Z,1761365363.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:24.181Z,1761365364.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:24.385Z,1761365364.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906482,0.391311,-0.158637],[-0.413772,0.898103,-0.149012],[0.084162,0.200716,0.976027]]
2025-10-25T04:09:24.434Z,1761365364.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:24.446Z,1761365364.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:24.686Z,1761365364.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:24.814Z,1761365364.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905962,0.392103,-0.159650],[-0.414717,0.897753,-0.148489],[0.085104,0.200735,0.975942]]
2025-10-25T04:09:24.849Z,1761365364.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:24.938Z,1761365364.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:25.189Z,1761365365.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:25.255Z,1761365365.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:25.441Z,1761365365.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:25.626Z,1761365365.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905083,0.393422,-0.161380],[-0.416286,0.897198,-0.147452],[0.086779,0.200636,0.975815]]
2025-10-25T04:09:25.672Z,1761365365.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:25.694Z,1761365365.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:25.945Z,1761365365.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:26.025Z,1761365366.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904560,0.394232,-0.162333],[-0.417227,0.896864,-0.146822],[0.087709,0.200540,0.975752]]
2025-10-25T04:09:26.073Z,1761365366.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:26.197Z,1761365366.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:26.428Z,1761365366.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904127,0.394915,-0.163085],[-0.418008,0.896589,-0.146279],[0.088452,0.200426,0.975708]]
2025-10-25T04:09:26.449Z,1761365366.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:26.490Z,1761365366.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:26.701Z,1761365366.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:26.832Z,1761365366.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903453,0.396077,-0.164000],[-0.419266,0.896145,-0.145395],[0.089380,0.200117,0.975687]]
2025-10-25T04:09:26.868Z,1761365366.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:26.954Z,1761365366.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:27.205Z,1761365367.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:27.240Z,1761365367.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902889,0.396952,-0.164987],[-0.420284,0.895759,-0.144838],[0.090295,0.200114,0.975603]]
2025-10-25T04:09:27.260Z,1761365367.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:27.458Z,1761365367.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:27.711Z,1761365367.711 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:27.736Z,1761365367.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:27.962Z,1761365367.962 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:28.045Z,1761365368.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902032,0.398162,-0.166749],[-0.421783,0.895158,-0.144192],[0.091855,0.200398,0.975399]]
2025-10-25T04:09:28.089Z,1761365368.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:28.213Z,1761365368.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:28.463Z,1761365368.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901275,0.399589,-0.167429],[-0.423246,0.894622,-0.143228],[0.092553,0.199951,0.975425]]
2025-10-25T04:09:28.465Z,1761365368.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:28.514Z,1761365368.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:28.719Z,1761365368.719 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:28.854Z,1761365368.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900664,0.400558,-0.168400],[-0.424349,0.894195,-0.142628],[0.093451,0.199920,0.975345]]
2025-10-25T04:09:28.873Z,1761365368.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:28.970Z,1761365368.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:29.222Z,1761365369.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:29.258Z,1761365369.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899986,0.401698,-0.169301],[-0.425594,0.893721,-0.141890],[0.094311,0.199753,0.975297]]
2025-10-25T04:09:29.298Z,1761365369.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:29.473Z,1761365369.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:29.660Z,1761365369.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899326,0.402822,-0.170137],[-0.426824,0.893226,-0.141311],[0.095048,0.199703,0.975236]]
2025-10-25T04:09:29.713Z,1761365369.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:29.727Z,1761365369.727 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:29.977Z,1761365369.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:30.076Z,1761365370.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898717,0.403776,-0.171089],[-0.427921,0.892773,-0.140857],[0.095869,0.199803,0.975135]]
2025-10-25T04:09:30.096Z,1761365370.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:30.230Z,1761365370.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:30.481Z,1761365370.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:30.489Z,1761365370.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897953,0.405064,-0.172057],[-0.429336,0.892190,-0.140241],[0.096701,0.199800,0.975053]]
2025-10-25T04:09:30.534Z,1761365370.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:30.733Z,1761365370.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:30.873Z,1761365370.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897242,0.406251,-0.172965],[-0.430653,0.891630,-0.139761],[0.097443,0.199887,0.974962]]
2025-10-25T04:09:30.893Z,1761365370.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:30.985Z,1761365370.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:31.237Z,1761365371.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:31.283Z,1761365371.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896342,0.407863,-0.173837],[-0.432364,0.890910,-0.139074],[0.098150,0.199819,0.974905]]
2025-10-25T04:09:31.311Z,1761365371.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:31.491Z,1761365371.491 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:31.680Z,1761365371.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895498,0.409304,-0.174795],[-0.433930,0.890242,-0.138472],[0.098933,0.199851,0.974819]]
2025-10-25T04:09:31.745Z,1761365371.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:31.761Z,1761365371.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:31.997Z,1761365371.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:32.086Z,1761365372.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894430,0.411284,-0.175616],[-0.435974,0.889382,-0.137572],[0.099608,0.199613,0.974799]]
2025-10-25T04:09:32.138Z,1761365372.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:32.249Z,1761365372.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:32.505Z,1761365372.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:32.552Z,1761365372.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892485,0.414809,-0.177214],[-0.439678,0.887748,-0.136331],[0.100770,0.199590,0.974684]]
2025-10-25T04:09:32.614Z,1761365372.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:32.753Z,1761365372.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:32.995Z,1761365372.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891755,0.416068,-0.177936],[-0.441063,0.887082,-0.136196],[0.101177,0.199934,0.974571]]
2025-10-25T04:09:33.005Z,1761365373.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:33.031Z,1761365373.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:33.258Z,1761365373.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:33.397Z,1761365373.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890839,0.417918,-0.178188],[-0.442892,0.886264,-0.135582],[0.101259,0.199699,0.974611]]
2025-10-25T04:09:33.416Z,1761365373.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:33.513Z,1761365373.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:33.762Z,1761365373.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:33.814Z,1761365373.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890107,0.419277,-0.178654],[-0.444313,0.885590,-0.135339],[0.101470,0.199844,0.974559]]
2025-10-25T04:09:33.877Z,1761365373.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:34.014Z,1761365374.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:34.205Z,1761365374.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889418,0.420728,-0.178673],[-0.445730,0.884923,-0.135043],[0.101295,0.199749,0.974597]]
2025-10-25T04:09:34.244Z,1761365374.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:34.265Z,1761365374.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:34.520Z,1761365374.520 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:34.644Z,1761365374.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888941,0.421722,-0.178701],[-0.446731,0.884410,-0.135098],[0.101071,0.199926,0.974584]]
2025-10-25T04:09:34.701Z,1761365374.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:34.770Z,1761365374.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:35.022Z,1761365375.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:35.107Z,1761365375.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888493,0.422811,-0.178357],[-0.447733,0.883919,-0.134992],[0.100577,0.199796,0.974662]]
2025-10-25T04:09:35.129Z,1761365375.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:35.274Z,1761365375.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:35.530Z,1761365375.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:35.553Z,1761365375.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888393,0.423205,-0.177918],[-0.448089,0.883658,-0.135516],[0.099868,0.200115,0.974669]]
2025-10-25T04:09:35.607Z,1761365375.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:35.777Z,1761365375.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:36.017Z,1761365376.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888428,0.423499,-0.177045],[-0.448257,0.883490,-0.136051],[0.098800,0.200233,0.974754]]
2025-10-25T04:09:36.029Z,1761365376.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:36.068Z,1761365376.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:36.282Z,1761365376.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:36.415Z,1761365376.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888513,0.423816,-0.175853],[-0.448382,0.883347,-0.136573],[0.097457,0.200196,0.974897]]
2025-10-25T04:09:36.433Z,1761365376.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:36.535Z,1761365376.536 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:36.785Z,1761365376.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:36.823Z,1761365376.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888880,0.423643,-0.174410],[-0.448014,0.883379,-0.137566],[0.095792,0.200418,0.975016]]
2025-10-25T04:09:36.888Z,1761365376.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:37.037Z,1761365377.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:37.221Z,1761365377.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889038,0.424244,-0.172128],[-0.448205,0.883186,-0.138182],[0.093398,0.199997,0.975335]]
2025-10-25T04:09:37.261Z,1761365377.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:37.290Z,1761365377.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:37.546Z,1761365377.546 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:37.627Z,1761365377.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889410,0.424415,-0.169771],[-0.448016,0.883080,-0.139466],[0.090730,0.200103,0.975565]]
2025-10-25T04:09:37.680Z,1761365377.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:37.799Z,1761365377.799 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:38.037Z,1761365378.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889878,0.425498,-0.164527],[-0.448212,0.882650,-0.141544],[0.084992,0.199700,0.976164]]
2025-10-25T04:09:38.049Z,1761365378.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:38.057Z,1761365378.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:38.302Z,1761365378.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:38.438Z,1761365378.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890058,0.426128,-0.161897],[-0.448391,0.882395,-0.142564],[0.082106,0.199484,0.976455]]
2025-10-25T04:09:38.479Z,1761365378.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:38.555Z,1761365378.555 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:38.705Z,1761365378.705 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:09:38.805Z,1761365378.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:38.845Z,1761365378.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890039,0.427111,-0.159395],[-0.448940,0.881956,-0.143547],[0.079269,0.199321,0.976723]]
2025-10-25T04:09:38.906Z,1761365378.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:39.057Z,1761365379.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:39.242Z,1761365379.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890118,0.427896,-0.156827],[-0.449291,0.881586,-0.144719],[0.076332,0.199278,0.976966]]
2025-10-25T04:09:39.281Z,1761365379.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:39.309Z,1761365379.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:39.565Z,1761365379.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:39.646Z,1761365379.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890117,0.428699,-0.154621],[-0.449750,0.881119,-0.146131],[0.073594,0.199615,0.977107]]
2025-10-25T04:09:39.693Z,1761365379.693 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-10-25T04:09:39.693Z,1761365379.693 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-10-25T04:09:39.693Z,1761365379.693 [RDI_Pathfinder](ERROR): Communications Fault
2025-10-25T04:09:39.719Z,1761365379.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:39.814Z,1761365379.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:39.941Z,1761365379.941 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-10-25T04:09:40.050Z,1761365380.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889884,0.430034,-0.152240],[-0.450670,0.880467,-0.147221],[0.070732,0.199620,0.977317]]
2025-10-25T04:09:40.054Z,1761365380.054 [RDI_Pathfinder](INFO): Powering down
2025-10-25T04:09:40.065Z,1761365380.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:40.072Z,1761365380.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:40.317Z,1761365380.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:40.458Z,1761365380.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889814,0.430806,-0.150454],[-0.451187,0.879932,-0.148833],[0.068271,0.200316,0.977350]]
2025-10-25T04:09:40.479Z,1761365380.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:40.570Z,1761365380.570 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:40.821Z,1761365380.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:40.860Z,1761365380.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889388,0.432355,-0.148519],[-0.452391,0.879152,-0.149780],[0.065813,0.200401,0.977501]]
2025-10-25T04:09:40.898Z,1761365380.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:41.073Z,1761365381.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:41.121Z,1761365381.121 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-10-25T04:09:41.121Z,1761365381.121 [RDI_Pathfinder] No Fault, FailCount= 1
2025-10-25T04:09:41.263Z,1761365381.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889101,0.433476,-0.146963],[-0.453255,0.878519,-0.150876],[0.063709,0.200755,0.977568]]
2025-10-25T04:09:41.270Z,1761365381.270 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-10-25T04:09:41.321Z,1761365381.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:41.326Z,1761365381.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:41.578Z,1761365381.578 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:41.687Z,1761365381.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888375,0.435513,-0.145321],[-0.454963,0.877561,-0.151309],[0.061631,0.200535,0.977746]]
2025-10-25T04:09:41.707Z,1761365381.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:41.831Z,1761365381.831 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:42.081Z,1761365382.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:42.095Z,1761365382.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888028,0.436470,-0.144571],[-0.455797,0.877015,-0.151968],[0.060462,0.200847,0.977755]]
2025-10-25T04:09:42.119Z,1761365382.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:42.335Z,1761365382.335 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:42.490Z,1761365382.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887483,0.437770,-0.143982],[-0.456958,0.876419,-0.151914],[0.059685,0.200615,0.977850]]
2025-10-25T04:09:42.523Z,1761365382.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:42.586Z,1761365382.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:42.838Z,1761365382.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:42.895Z,1761365382.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887378,0.438211,-0.143288],[-0.457295,0.876125,-0.152597],[0.058668,0.200936,0.977846]]
2025-10-25T04:09:42.938Z,1761365382.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:43.089Z,1761365383.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:43.312Z,1761365383.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886966,0.439348,-0.142351],[-0.458240,0.875593,-0.152814],[0.057503,0.200772,0.977949]]
2025-10-25T04:09:43.341Z,1761365383.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:43.363Z,1761365383.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:43.594Z,1761365383.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:43.702Z,1761365383.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886623,0.440224,-0.141784],[-0.459020,0.875093,-0.153338],[0.056571,0.201035,0.977949]]
2025-10-25T04:09:43.727Z,1761365383.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:43.846Z,1761365383.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:44.097Z,1761365384.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:44.105Z,1761365384.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885951,0.441697,-0.141401],[-0.460398,0.874363,-0.153374],[0.055891,0.200983,0.977999]]
2025-10-25T04:09:44.137Z,1761365384.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:44.349Z,1761365384.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:44.508Z,1761365384.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885408,0.442860,-0.141167],[-0.461522,0.873696,-0.153793],[0.055229,0.201321,0.977967]]
2025-10-25T04:09:44.545Z,1761365384.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:44.602Z,1761365384.602 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:44.853Z,1761365384.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:44.914Z,1761365384.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884521,0.444619,-0.141197],[-0.463261,0.872786,-0.153735],[0.054881,0.201393,0.977972]]
2025-10-25T04:09:44.933Z,1761365384.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:45.105Z,1761365385.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:45.322Z,1761365385.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883565,0.446594,-0.140950],[-0.465147,0.871821,-0.153511],[0.054326,0.201199,0.978043]]
2025-10-25T04:09:45.342Z,1761365385.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:45.357Z,1761365385.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:45.611Z,1761365385.611 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:45.721Z,1761365385.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882480,0.448661,-0.141186],[-0.467218,0.870765,-0.153218],[0.054197,0.201176,0.978055]]
2025-10-25T04:09:45.750Z,1761365385.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:45.861Z,1761365385.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:46.117Z,1761365386.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:46.126Z,1761365386.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881324,0.450863,-0.141387],[-0.469409,0.869659,-0.152803],[0.054065,0.201037,0.978090]]
2025-10-25T04:09:46.189Z,1761365386.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:46.369Z,1761365386.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:46.529Z,1761365386.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880383,0.452566,-0.141813],[-0.471170,0.868725,-0.152696],[0.054092,0.201249,0.978046]]
2025-10-25T04:09:46.553Z,1761365386.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:46.621Z,1761365386.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:46.873Z,1761365386.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:46.955Z,1761365386.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879053,0.455018,-0.142214],[-0.473633,0.867504,-0.152013],[0.054202,0.200985,0.978094]]
2025-10-25T04:09:46.999Z,1761365386.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:47.126Z,1761365387.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:47.370Z,1761365387.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878133,0.456600,-0.142823],[-0.475315,0.866593,-0.151960],[0.054384,0.201327,0.978013]]
2025-10-25T04:09:47.378Z,1761365387.378 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:47.407Z,1761365387.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:47.629Z,1761365387.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:47.780Z,1761365387.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876912,0.458799,-0.143278],[-0.477538,0.865495,-0.151246],[0.054615,0.201051,0.978057]]
2025-10-25T04:09:47.799Z,1761365387.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:47.882Z,1761365387.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:48.133Z,1761365388.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:48.191Z,1761365388.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875555,0.461113,-0.144146],[-0.479950,0.864307,-0.150405],[0.055233,0.200870,0.978060]]
2025-10-25T04:09:48.212Z,1761365388.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:48.387Z,1761365388.387 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:48.591Z,1761365388.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874434,0.463011,-0.144865],[-0.481936,0.863306,-0.149803],[0.055703,0.200808,0.978046]]
2025-10-25T04:09:48.627Z,1761365388.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:48.637Z,1761365388.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:48.889Z,1761365388.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:48.995Z,1761365388.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873098,0.465251,-0.145745],[-0.484283,0.862119,-0.149066],[0.056296,0.200731,0.978028]]
2025-10-25T04:09:49.039Z,1761365389.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:49.142Z,1761365389.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:49.394Z,1761365389.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:49.398Z,1761365389.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872104,0.466821,-0.146675],[-0.486006,0.861199,-0.148778],[0.056863,0.201035,0.977932]]
2025-10-25T04:09:49.418Z,1761365389.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:49.646Z,1761365389.646 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:49.802Z,1761365389.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870964,0.468667,-0.147560],[-0.487982,0.860157,-0.148333],[0.057406,0.201199,0.977867]]
2025-10-25T04:09:49.822Z,1761365389.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:49.897Z,1761365389.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:50.149Z,1761365390.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:50.205Z,1761365390.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869802,0.470531,-0.148479],[-0.489973,0.859134,-0.147701],[0.058066,0.201221,0.977823]]
2025-10-25T04:09:50.237Z,1761365390.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:50.321Z,1761365390.321 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:09:50.401Z,1761365390.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:50.608Z,1761365390.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868430,0.472836,-0.149185],[-0.492334,0.857955,-0.146697],[0.058630,0.200845,0.977867]]
2025-10-25T04:09:50.654Z,1761365390.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:50.663Z,1761365390.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:50.905Z,1761365390.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:51.012Z,1761365391.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867554,0.474177,-0.150024],[-0.493805,0.857175,-0.146310],[0.059220,0.201014,0.977797]]
2025-10-25T04:09:51.033Z,1761365391.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:51.158Z,1761365391.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:51.325Z,1761365391.325 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:09:51.410Z,1761365391.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:51.422Z,1761365391.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866337,0.476250,-0.150487],[-0.495889,0.856136,-0.145343],[0.059617,0.200541,0.977870]]
2025-10-25T04:09:51.454Z,1761365391.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:51.662Z,1761365391.662 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:51.820Z,1761365391.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865535,0.477436,-0.151340],[-0.497219,0.855410,-0.145080],[0.060191,0.200821,0.977777]]
2025-10-25T04:09:51.854Z,1761365391.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:51.914Z,1761365391.914 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:52.165Z,1761365392.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:52.225Z,1761365392.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864793,0.478677,-0.151661],[-0.498490,0.854721,-0.144772],[0.060328,0.200800,0.977773]]
2025-10-25T04:09:52.267Z,1761365392.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:52.417Z,1761365392.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:52.629Z,1761365392.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864246,0.479532,-0.152078],[-0.499423,0.854171,-0.144808],[0.060460,0.201101,0.977703]]
2025-10-25T04:09:52.654Z,1761365392.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:52.669Z,1761365392.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:52.922Z,1761365392.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:53.039Z,1761365393.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862881,0.481775,-0.152736],[-0.501744,0.852892,-0.144321],[0.060737,0.201166,0.977672]]
2025-10-25T04:09:53.061Z,1761365393.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:53.173Z,1761365393.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:53.429Z,1761365393.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:53.441Z,1761365393.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862289,0.482735,-0.153053],[-0.502738,0.852358,-0.144017],[0.060934,0.201129,0.977668]]
2025-10-25T04:09:53.477Z,1761365393.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:53.681Z,1761365393.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:53.841Z,1761365393.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861626,0.483912,-0.153064],[-0.503881,0.851744,-0.143652],[0.060856,0.200901,0.977719]]
2025-10-25T04:09:53.889Z,1761365393.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:53.934Z,1761365393.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:54.185Z,1761365394.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:54.246Z,1761365394.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861333,0.484387,-0.153212],[-0.504397,0.851394,-0.143914],[0.060734,0.201237,0.977658]]
2025-10-25T04:09:54.270Z,1761365394.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:54.437Z,1761365394.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:54.648Z,1761365394.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860980,0.485106,-0.152921],[-0.505054,0.850989,-0.144005],[0.060277,0.201219,0.977690]]
2025-10-25T04:09:54.690Z,1761365394.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:54.695Z,1761365394.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:54.941Z,1761365394.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:55.055Z,1761365395.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860838,0.485338,-0.152983],[-0.505318,0.850772,-0.144362],[0.060089,0.201578,0.977628]]
2025-10-25T04:09:55.089Z,1761365395.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:55.194Z,1761365395.194 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:55.449Z,1761365395.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:55.458Z,1761365395.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860383,0.486262,-0.152611],[-0.506141,0.850324,-0.144121],[0.059689,0.201242,0.977721]]
2025-10-25T04:09:55.479Z,1761365395.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:55.701Z,1761365395.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:55.862Z,1761365395.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860251,0.486596,-0.152291],[-0.506416,0.850131,-0.144293],[0.059254,0.201251,0.977746]]
2025-10-25T04:09:55.922Z,1761365395.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:55.953Z,1761365395.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:56.205Z,1761365396.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:56.268Z,1761365396.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860087,0.487023,-0.151852],[-0.506752,0.849922,-0.144343],[0.058764,0.201099,0.977807]]
2025-10-25T04:09:56.303Z,1761365396.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:56.457Z,1761365396.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:56.668Z,1761365396.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859904,0.487469,-0.151454],[-0.507113,0.849702,-0.144367],[0.058316,0.200946,0.977865]]
2025-10-25T04:09:56.710Z,1761365396.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:56.722Z,1761365396.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:56.961Z,1761365396.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:57.080Z,1761365397.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859961,0.487520,-0.150968],[-0.507085,0.849663,-0.144699],[0.057728,0.200990,0.977891]]
2025-10-25T04:09:57.099Z,1761365397.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:57.213Z,1761365397.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:57.466Z,1761365397.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:57.518Z,1761365397.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:57.718Z,1761365397.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:57.884Z,1761365397.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859944,0.487723,-0.150408],[-0.507215,0.849458,-0.145444],[0.056829,0.201363,0.977867]]
2025-10-25T04:09:57.896Z,1761365397.896 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  90.45,  77.25,  80.32
2025-10-25T04:09:57.912Z,1761365397.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:57.970Z,1761365397.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:58.221Z,1761365398.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:58.289Z,1761365398.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859745,0.488249,-0.149836],[-0.507620,0.849209,-0.145483],[0.056210,0.201138,0.977949]]
2025-10-25T04:09:58.322Z,1761365398.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:58.473Z,1761365398.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:58.690Z,1761365398.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859546,0.488680,-0.149574],[-0.508004,0.848945,-0.145681],[0.055789,0.201204,0.977959]]
2025-10-25T04:09:58.726Z,1761365398.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:58.742Z,1761365398.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:58.978Z,1761365398.978 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:59.101Z,1761365399.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858889,0.489943,-0.149215],[-0.509153,0.848335,-0.145229],[0.055430,0.200709,0.978082]]
2025-10-25T04:09:59.124Z,1761365399.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:59.230Z,1761365399.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:59.481Z,1761365399.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:59.502Z,1761365399.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858621,0.490390,-0.149289],[-0.509623,0.848010,-0.145475],[0.055259,0.200989,0.978034]]
2025-10-25T04:09:59.521Z,1761365399.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:59.733Z,1761365399.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:09:59.901Z,1761365399.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857934,0.491559,-0.149394],[-0.510784,0.847359,-0.145200],[0.055215,0.200880,0.978059]]
2025-10-25T04:09:59.978Z,1761365399.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:09:59.986Z,1761365399.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:00.238Z,1761365400.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:00.313Z,1761365400.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857646,0.491962,-0.149722],[-0.511268,0.847008,-0.145543],[0.055214,0.201372,0.977957]]
2025-10-25T04:10:00.332Z,1761365400.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:00.489Z,1761365400.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:00.709Z,1761365400.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856764,0.493448,-0.149882],[-0.512742,0.846194,-0.145090],[0.055235,0.201159,0.978000]]
2025-10-25T04:10:00.741Z,1761365400.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:00.759Z,1761365400.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:00.994Z,1761365400.994 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:01.111Z,1761365401.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856086,0.494554,-0.150108],[-0.513870,0.845543,-0.144897],[0.055263,0.201181,0.977994]]
2025-10-25T04:10:01.156Z,1761365401.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:01.246Z,1761365401.246 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:01.497Z,1761365401.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:01.564Z,1761365401.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:01.750Z,1761365401.750 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:01.928Z,1761365401.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854156,0.497653,-0.150862],[-0.517011,0.843843,-0.143625],[0.055829,0.200675,0.978066]]
2025-10-25T04:10:01.991Z,1761365401.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:02.001Z,1761365402.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:02.255Z,1761365402.255 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:02.326Z,1761365402.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853243,0.499014,-0.151531],[-0.518470,0.843012,-0.143243],[0.056262,0.200785,0.978018]]
2025-10-25T04:10:02.353Z,1761365402.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:02.505Z,1761365402.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:02.728Z,1761365402.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852191,0.500607,-0.152192],[-0.520158,0.842034,-0.142880],[0.056624,0.200925,0.977969]]
2025-10-25T04:10:02.757Z,1761365402.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:02.800Z,1761365402.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:03.010Z,1761365403.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:03.137Z,1761365403.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851268,0.501907,-0.153079],[-0.521618,0.841141,-0.142818],[0.057080,0.201425,0.977839]]
2025-10-25T04:10:03.154Z,1761365403.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:03.262Z,1761365403.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:03.513Z,1761365403.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:03.541Z,1761365403.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850054,0.503721,-0.153860],[-0.523543,0.840021,-0.142362],[0.057535,0.201567,0.977783]]
2025-10-25T04:10:03.568Z,1761365403.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:03.766Z,1761365403.766 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:04.004Z,1761365404.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:04.034Z,1761365404.034 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:04.286Z,1761365404.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:04.348Z,1761365404.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847750,0.507241,-0.155003],[-0.527183,0.837949,-0.141139],[0.058293,0.201365,0.977780]]
2025-10-25T04:10:04.365Z,1761365404.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:10:04.367Z,1761365404.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:04.537Z,1761365404.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:04.751Z,1761365404.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846763,0.508715,-0.155568],[-0.528723,0.837068,-0.140606],[0.058692,0.201312,0.977767]]
2025-10-25T04:10:04.789Z,1761365404.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:04.840Z,1761365404.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:05.041Z,1761365405.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:05.154Z,1761365405.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845952,0.509925,-0.156017],[-0.529987,0.836334,-0.140215],[0.058983,0.201302,0.977752]]
2025-10-25T04:10:05.183Z,1761365405.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:05.294Z,1761365405.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:05.548Z,1761365405.548 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:05.562Z,1761365405.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845173,0.511099,-0.156396],[-0.531214,0.835585,-0.140037],[0.059109,0.201435,0.977717]]
2025-10-25T04:10:05.601Z,1761365405.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:05.802Z,1761365405.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:05.960Z,1761365405.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844496,0.512117,-0.156723],[-0.532273,0.834949,-0.139808],[0.059258,0.201487,0.977697]]
2025-10-25T04:10:06.023Z,1761365406.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:06.056Z,1761365406.056 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:06.306Z,1761365406.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:06.364Z,1761365406.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843980,0.512926,-0.156857],[-0.533100,0.834421,-0.139807],[0.059174,0.201615,0.977676]]
2025-10-25T04:10:06.388Z,1761365406.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:06.557Z,1761365406.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:06.774Z,1761365406.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843348,0.513947,-0.156914],[-0.534102,0.833835,-0.139479],[0.059156,0.201437,0.977713]]
2025-10-25T04:10:06.811Z,1761365406.811 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:06.825Z,1761365406.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:07.061Z,1761365407.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:07.175Z,1761365407.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842829,0.514937,-0.156457],[-0.534972,0.833320,-0.139224],[0.058687,0.201042,0.977823]]
2025-10-25T04:10:07.193Z,1761365407.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:07.314Z,1761365407.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:07.566Z,1761365407.566 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:07.653Z,1761365407.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:07.817Z,1761365407.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:07.982Z,1761365407.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842575,0.515554,-0.155791],[-0.535467,0.832942,-0.139577],[0.057806,0.201026,0.977879]]
2025-10-25T04:10:08.046Z,1761365408.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:08.070Z,1761365408.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:08.323Z,1761365408.323 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:08.391Z,1761365408.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842910,0.515081,-0.155544],[-0.534994,0.833121,-0.140327],[0.057307,0.201498,0.977811]]
2025-10-25T04:10:08.413Z,1761365408.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:08.573Z,1761365408.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:08.826Z,1761365408.826 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:08.876Z,1761365408.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:09.080Z,1761365409.080 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:09.192Z,1761365409.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843709,0.514180,-0.154191],[-0.533893,0.833633,-0.141470],[0.055797,0.201681,0.977861]]
2025-10-25T04:10:09.239Z,1761365409.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:09.329Z,1761365409.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:09.581Z,1761365409.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:09.601Z,1761365409.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844183,0.513675,-0.153276],[-0.533233,0.833982,-0.141905],[0.054937,0.201525,0.977941]]
2025-10-25T04:10:09.630Z,1761365409.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:09.835Z,1761365409.835 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:10.083Z,1761365410.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:10.085Z,1761365410.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:10.337Z,1761365410.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:10.413Z,1761365410.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845408,0.512369,-0.150875],[-0.531528,0.834841,-0.143240],[0.052565,0.201291,0.978120]]
2025-10-25T04:10:10.443Z,1761365410.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:10.589Z,1761365410.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:10.828Z,1761365410.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845885,0.511785,-0.150185],[-0.530845,0.835168,-0.143870],[0.051799,0.201422,0.978134]]
2025-10-25T04:10:10.841Z,1761365410.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:10.880Z,1761365410.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:11.094Z,1761365411.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:11.289Z,1761365411.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:11.347Z,1761365411.347 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:11.597Z,1761365411.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:11.616Z,1761365411.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846625,0.510869,-0.149125],[-0.529774,0.835685,-0.144806],[0.050644,0.201599,0.978158]]
2025-10-25T04:10:11.653Z,1761365411.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:11.850Z,1761365411.850 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:12.021Z,1761365412.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846766,0.510804,-0.148546],[-0.529590,0.835811,-0.144760],[0.050213,0.201246,0.978253]]
2025-10-25T04:10:12.079Z,1761365412.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:12.102Z,1761365412.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:12.353Z,1761365412.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:12.433Z,1761365412.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847114,0.510286,-0.148342],[-0.529050,0.836111,-0.144997],[0.050040,0.201310,0.978249]]
2025-10-25T04:10:12.470Z,1761365412.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:12.605Z,1761365412.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:12.856Z,1761365412.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847363,0.510034,-0.147786],[-0.528688,0.836340,-0.144997],[0.049646,0.200998,0.978333]]
2025-10-25T04:10:12.857Z,1761365412.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:12.906Z,1761365412.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:13.111Z,1761365413.111 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:13.249Z,1761365413.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847433,0.509819,-0.148130],[-0.528544,0.836434,-0.144980],[0.049987,0.201154,0.978283]]
2025-10-25T04:10:13.277Z,1761365413.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:13.361Z,1761365413.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:13.613Z,1761365413.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:13.636Z,1761365413.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847363,0.509908,-0.148222],[-0.528643,0.836396,-0.144836],[0.050120,0.201085,0.978291]]
2025-10-25T04:10:13.655Z,1761365413.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:13.866Z,1761365413.866 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:14.042Z,1761365414.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847269,0.509897,-0.148792],[-0.528751,0.836321,-0.144879],[0.050564,0.201425,0.978198]]
2025-10-25T04:10:14.098Z,1761365414.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:14.117Z,1761365414.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:14.369Z,1761365414.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:14.443Z,1761365414.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846757,0.510592,-0.149328],[-0.529518,0.835930,-0.144334],[0.051132,0.201287,0.978197]]
2025-10-25T04:10:14.481Z,1761365414.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:14.621Z,1761365414.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:14.876Z,1761365414.876 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:14.884Z,1761365414.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846324,0.511069,-0.150146],[-0.530136,0.835596,-0.143993],[0.051871,0.201463,0.978122]]
2025-10-25T04:10:14.939Z,1761365414.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:15.126Z,1761365415.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:15.257Z,1761365415.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845589,0.512034,-0.151001],[-0.531222,0.835039,-0.143222],[0.052757,0.201322,0.978103]]
2025-10-25T04:10:15.279Z,1761365415.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:15.381Z,1761365415.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:15.629Z,1761365415.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:15.660Z,1761365415.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844923,0.512873,-0.151877],[-0.532188,0.834553,-0.142468],[0.053682,0.201202,0.978078]]
2025-10-25T04:10:15.679Z,1761365415.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:15.882Z,1761365415.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:16.060Z,1761365416.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844407,0.513412,-0.152923],[-0.532902,0.834193,-0.141907],[0.054711,0.201320,0.977996]]
2025-10-25T04:10:16.133Z,1761365416.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:16.143Z,1761365416.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:16.386Z,1761365416.386 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:16.470Z,1761365416.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843867,0.514042,-0.153782],[-0.533664,0.833808,-0.141304],[0.055588,0.201309,0.977949]]
2025-10-25T04:10:16.573Z,1761365416.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:16.637Z,1761365416.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:16.892Z,1761365416.892 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:16.919Z,1761365416.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843403,0.514454,-0.154944],[-0.534278,0.833505,-0.140771],[0.056727,0.201510,0.977842]]
2025-10-25T04:10:16.977Z,1761365416.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:17.141Z,1761365417.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:17.282Z,1761365417.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842948,0.514969,-0.155707],[-0.534909,0.833197,-0.140197],[0.057537,0.201468,0.977804]]
2025-10-25T04:10:17.311Z,1761365417.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:17.396Z,1761365417.396 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:17.645Z,1761365417.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:17.676Z,1761365417.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842870,0.514818,-0.156626],[-0.534942,0.833192,-0.140103],[0.058372,0.201875,0.977670]]
2025-10-25T04:10:17.707Z,1761365417.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:17.900Z,1761365417.900 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:18.140Z,1761365418.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:18.149Z,1761365418.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:18.401Z,1761365418.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:18.533Z,1761365418.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:18.653Z,1761365418.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:18.908Z,1761365418.908 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:18.945Z,1761365418.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842562,0.514921,-0.157945],[-0.535247,0.833177,-0.139025],[0.060009,0.201677,0.977612]]
2025-10-25T04:10:18.985Z,1761365418.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:19.157Z,1761365419.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:19.300Z,1761365419.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842639,0.514662,-0.158375],[-0.535068,0.833319,-0.138857],[0.060512,0.201747,0.977567]]
2025-10-25T04:10:19.346Z,1761365419.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:19.410Z,1761365419.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:19.661Z,1761365419.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:19.697Z,1761365419.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843166,0.513814,-0.158323],[-0.534233,0.833815,-0.139093],[0.060544,0.201860,0.977541]]
2025-10-25T04:10:19.746Z,1761365419.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:19.916Z,1761365419.916 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:20.102Z,1761365420.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843682,0.513083,-0.157942],[-0.533438,0.834311,-0.139175],[0.060364,0.201672,0.977591]]
2025-10-25T04:10:20.163Z,1761365420.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:20.165Z,1761365420.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:20.417Z,1761365420.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:20.510Z,1761365420.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844585,0.511660,-0.157731],[-0.532020,0.835130,-0.139689],[0.060253,0.201895,0.977552]]
2025-10-25T04:10:20.533Z,1761365420.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:20.669Z,1761365420.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:20.923Z,1761365420.923 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:20.948Z,1761365420.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845606,0.510220,-0.156927],[-0.530460,0.836043,-0.140156],[0.059688,0.201760,0.977615]]
2025-10-25T04:10:20.994Z,1761365420.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:21.177Z,1761365421.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:21.318Z,1761365421.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846839,0.508403,-0.156173],[-0.528548,0.837148,-0.140783],[0.059165,0.201766,0.977645]]
2025-10-25T04:10:21.375Z,1761365421.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:21.426Z,1761365421.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:21.447Z,1761365421.447 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:10:21.677Z,1761365421.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:21.719Z,1761365421.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848125,0.506556,-0.155194],[-0.526559,0.838299,-0.141387],[0.058478,0.201632,0.977714]]
2025-10-25T04:10:21.738Z,1761365421.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:21.933Z,1761365421.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:22.122Z,1761365422.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849591,0.504358,-0.154330],[-0.524259,0.839604,-0.142192],[0.057860,0.201714,0.977734]]
2025-10-25T04:10:22.164Z,1761365422.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:22.181Z,1761365422.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:22.433Z,1761365422.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:22.449Z,1761365422.449 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:10:22.523Z,1761365422.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851010,0.502313,-0.153177],[-0.522041,0.840874,-0.142843],[0.057051,0.201526,0.977820]]
2025-10-25T04:10:22.559Z,1761365422.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:22.686Z,1761365422.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:22.936Z,1761365422.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852539,0.499972,-0.152335],[-0.519607,0.842231,-0.143719],[0.056446,0.201680,0.977824]]
2025-10-25T04:10:22.940Z,1761365422.940 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:23.019Z,1761365423.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:23.189Z,1761365423.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:23.337Z,1761365423.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853979,0.497841,-0.151241],[-0.517320,0.843517,-0.144425],[0.055674,0.201576,0.977889]]
2025-10-25T04:10:23.410Z,1761365423.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:23.441Z,1761365423.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:23.694Z,1761365423.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:23.736Z,1761365423.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855284,0.495821,-0.150503],[-0.515216,0.844678,-0.145160],[0.055153,0.201694,0.977894]]
2025-10-25T04:10:23.762Z,1761365423.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:23.951Z,1761365423.951 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:24.192Z,1761365424.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:24.201Z,1761365424.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:24.453Z,1761365424.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:24.545Z,1761365424.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857563,0.492366,-0.148868],[-0.511527,0.846747,-0.146149],[0.054095,0.201482,0.977997]]
2025-10-25T04:10:24.566Z,1761365424.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:24.705Z,1761365424.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:24.957Z,1761365424.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:25.050Z,1761365425.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:25.210Z,1761365425.210 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:25.425Z,1761365425.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:25.463Z,1761365425.463 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:25.713Z,1761365425.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:25.756Z,1761365425.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860174,0.488128,-0.147757],[-0.507183,0.849147,-0.147358],[0.053538,0.201693,0.977984]]
2025-10-25T04:10:25.787Z,1761365425.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:25.968Z,1761365425.968 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:26.161Z,1761365426.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860674,0.487266,-0.147689],[-0.506324,0.849643,-0.147456],[0.053633,0.201690,0.977980]]
2025-10-25T04:10:26.214Z,1761365426.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:26.217Z,1761365426.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:26.470Z,1761365426.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:26.569Z,1761365426.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861173,0.486366,-0.147745],[-0.505449,0.850158,-0.147491],[0.053872,0.201693,0.977966]]
2025-10-25T04:10:26.592Z,1761365426.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:26.721Z,1761365426.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:26.971Z,1761365426.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861598,0.485627,-0.147700],[-0.504704,0.850618,-0.147390],[0.054059,0.201536,0.977988]]
2025-10-25T04:10:26.977Z,1761365426.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:27.033Z,1761365427.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:27.226Z,1761365427.226 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:27.382Z,1761365427.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862176,0.484513,-0.147987],[-0.503639,0.851322,-0.146961],[0.054780,0.201238,0.978009]]
2025-10-25T04:10:27.421Z,1761365427.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:27.478Z,1761365427.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:27.729Z,1761365427.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:27.781Z,1761365427.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862413,0.483950,-0.148443],[-0.503170,0.851617,-0.146861],[0.055343,0.201347,0.977955]]
2025-10-25T04:10:27.816Z,1761365427.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:27.981Z,1761365427.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:28.182Z,1761365428.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862791,0.483155,-0.148840],[-0.502468,0.852024,-0.146905],[0.055837,0.201536,0.977888]]
2025-10-25T04:10:28.233Z,1761365428.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:28.240Z,1761365428.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:28.485Z,1761365428.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:28.593Z,1761365428.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863360,0.482100,-0.148959],[-0.501470,0.852555,-0.147235],[0.056014,0.201816,0.977821]]
2025-10-25T04:10:28.614Z,1761365428.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:28.737Z,1761365428.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:28.991Z,1761365428.991 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:29.005Z,1761365429.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863618,0.481563,-0.149201],[-0.500973,0.852893,-0.146966],[0.056479,0.201668,0.977824]]
2025-10-25T04:10:29.093Z,1761365429.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:29.241Z,1761365429.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:29.396Z,1761365429.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864322,0.480268,-0.149299],[-0.499733,0.853566,-0.147285],[0.056700,0.201912,0.977761]]
2025-10-25T04:10:29.450Z,1761365429.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:29.494Z,1761365429.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:29.745Z,1761365429.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:29.844Z,1761365429.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:29.997Z,1761365429.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:30.202Z,1761365430.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865975,0.477476,-0.148672],[-0.496870,0.855171,-0.147660],[0.056636,0.201741,0.977800]]
2025-10-25T04:10:30.240Z,1761365430.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:30.249Z,1761365430.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:30.501Z,1761365430.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:30.603Z,1761365430.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867022,0.475649,-0.148432],[-0.495033,0.856184,-0.147957],[0.056709,0.201760,0.977792]]
2025-10-25T04:10:30.650Z,1761365430.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:30.754Z,1761365430.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:31.005Z,1761365431.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:31.010Z,1761365431.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868161,0.473796,-0.147695],[-0.493071,0.857265,-0.148249],[0.056374,0.201528,0.977859]]
2025-10-25T04:10:31.029Z,1761365431.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:31.259Z,1761365431.259 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:31.418Z,1761365431.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869554,0.471329,-0.147389],[-0.490617,0.858539,-0.149014],[0.056305,0.201888,0.977789]]
2025-10-25T04:10:31.482Z,1761365431.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:31.510Z,1761365431.510 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:31.761Z,1761365431.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:31.852Z,1761365431.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:32.013Z,1761365432.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:32.221Z,1761365432.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872051,0.467149,-0.145940],[-0.486243,0.860875,-0.149873],[0.055623,0.201660,0.977875]]
2025-10-25T04:10:32.265Z,1761365432.265 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:32.350Z,1761365432.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:32.518Z,1761365432.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:32.640Z,1761365432.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873356,0.464958,-0.145133],[-0.483936,0.862112,-0.150226],[0.055272,0.201436,0.977941]]
2025-10-25T04:10:32.670Z,1761365432.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:32.770Z,1761365432.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:33.021Z,1761365433.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:33.029Z,1761365433.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874764,0.462519,-0.144443],[-0.481423,0.863414,-0.150823],[0.054956,0.201473,0.977951]]
2025-10-25T04:10:33.060Z,1761365433.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:33.274Z,1761365433.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:33.433Z,1761365433.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876017,0.460421,-0.143551],[-0.479184,0.864616,-0.151066],[0.054563,0.201124,0.978045]]
2025-10-25T04:10:33.481Z,1761365433.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:33.527Z,1761365433.527 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:33.778Z,1761365433.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:33.836Z,1761365433.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877542,0.457730,-0.142839],[-0.476424,0.866015,-0.151784],[0.054225,0.201248,0.978038]]
2025-10-25T04:10:33.855Z,1761365433.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:34.029Z,1761365434.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:34.242Z,1761365434.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879086,0.454923,-0.142312],[-0.473589,0.867433,-0.152554],[0.054045,0.201506,0.977995]]
2025-10-25T04:10:34.282Z,1761365434.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:34.305Z,1761365434.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:34.533Z,1761365434.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:34.688Z,1761365434.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:34.786Z,1761365434.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:35.041Z,1761365435.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:35.050Z,1761365435.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881651,0.450278,-0.141212],[-0.468826,0.869877,-0.153353],[0.053785,0.201408,0.978030]]
2025-10-25T04:10:35.100Z,1761365435.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:35.294Z,1761365435.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:35.514Z,1761365435.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:35.546Z,1761365435.546 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:35.797Z,1761365435.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:35.858Z,1761365435.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883802,0.446292,-0.140421],[-0.464757,0.871980,-0.153791],[0.053809,0.201183,0.978075]]
2025-10-25T04:10:35.886Z,1761365435.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:36.051Z,1761365436.051 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:36.260Z,1761365436.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884692,0.444626,-0.140100],[-0.463052,0.872873,-0.153867],[0.053876,0.200999,0.978109]]
2025-10-25T04:10:36.302Z,1761365436.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:36.341Z,1761365436.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:36.553Z,1761365436.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:36.666Z,1761365436.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885698,0.442619,-0.140096],[-0.461097,0.873826,-0.154332],[0.054109,0.201289,0.978036]]
2025-10-25T04:10:36.684Z,1761365436.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:36.805Z,1761365436.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:37.059Z,1761365437.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:37.077Z,1761365437.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886445,0.441106,-0.140147],[-0.459624,0.874572,-0.154500],[0.054417,0.201371,0.978002]]
2025-10-25T04:10:37.097Z,1761365437.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:37.313Z,1761365437.313 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:37.478Z,1761365437.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887163,0.439632,-0.140233],[-0.458203,0.875269,-0.154773],[0.054699,0.201564,0.977947]]
2025-10-25T04:10:37.520Z,1761365437.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:37.561Z,1761365437.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:37.813Z,1761365437.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:37.877Z,1761365437.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887677,0.438549,-0.140370],[-0.457153,0.875845,-0.154617],[0.055135,0.201420,0.977952]]
2025-10-25T04:10:37.915Z,1761365437.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:38.066Z,1761365438.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:38.286Z,1761365438.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888177,0.437516,-0.140433],[-0.456136,0.876408,-0.154428],[0.055512,0.201216,0.977973]]
2025-10-25T04:10:38.317Z,1761365438.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:38.348Z,1761365438.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:38.569Z,1761365438.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:38.688Z,1761365438.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888910,0.435925,-0.140740],[-0.454642,0.877144,-0.154660],[0.056029,0.201465,0.977892]]
2025-10-25T04:10:38.706Z,1761365438.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:38.823Z,1761365438.823 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:39.073Z,1761365439.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:39.097Z,1761365439.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889342,0.435000,-0.140875],[-0.453744,0.877647,-0.154441],[0.056457,0.201272,0.977907]]
2025-10-25T04:10:39.116Z,1761365439.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:39.326Z,1761365439.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:39.551Z,1761365439.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:39.577Z,1761365439.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:39.829Z,1761365439.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:39.900Z,1761365439.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890758,0.431968,-0.141258],[-0.450864,0.879025,-0.155034],[0.057200,0.201786,0.977758]]
2025-10-25T04:10:39.919Z,1761365439.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:40.082Z,1761365440.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:40.311Z,1761365440.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891415,0.430527,-0.141515],[-0.449506,0.879685,-0.155235],[0.057656,0.201990,0.977689]]
2025-10-25T04:10:40.334Z,1761365440.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:40.390Z,1761365440.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:40.589Z,1761365440.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:40.707Z,1761365440.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891872,0.429644,-0.141318],[-0.448584,0.880189,-0.155047],[0.057772,0.201675,0.977747]]
2025-10-25T04:10:40.729Z,1761365440.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:40.838Z,1761365440.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:41.089Z,1761365441.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:41.110Z,1761365441.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892688,0.427968,-0.141249],[-0.446931,0.880986,-0.155294],[0.057978,0.201757,0.977718]]
2025-10-25T04:10:41.145Z,1761365441.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:41.342Z,1761365441.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:41.514Z,1761365441.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893337,0.426712,-0.140948],[-0.445624,0.881665,-0.155198],[0.058044,0.201454,0.977777]]
2025-10-25T04:10:41.568Z,1761365441.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:41.594Z,1761365441.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:41.851Z,1761365441.851 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:41.962Z,1761365441.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894055,0.425283,-0.140713],[-0.444168,0.882393,-0.155232],[0.058146,0.201286,0.977805]]
2025-10-25T04:10:41.985Z,1761365441.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:42.102Z,1761365442.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:42.353Z,1761365442.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:42.382Z,1761365442.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895922,0.421562,-0.140034],[-0.440408,0.884125,-0.156091],[0.058006,0.201517,0.977766]]
2025-10-25T04:10:42.437Z,1761365442.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:42.605Z,1761365442.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:42.771Z,1761365442.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897029,0.419355,-0.139573],[-0.438174,0.885124,-0.156712],[0.057822,0.201733,0.977732]]
2025-10-25T04:10:42.810Z,1761365442.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:42.857Z,1761365442.857 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:43.110Z,1761365443.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:43.223Z,1761365443.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:43.361Z,1761365443.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:43.613Z,1761365443.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:43.630Z,1761365443.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898920,0.415700,-0.138336],[-0.434347,0.886915,-0.157242],[0.057327,0.201433,0.977823]]
2025-10-25T04:10:43.699Z,1761365443.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:43.865Z,1761365443.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:44.110Z,1761365444.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:44.117Z,1761365444.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:44.370Z,1761365444.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:44.482Z,1761365444.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901062,0.411518,-0.136894],[-0.429983,0.888869,-0.158195],[0.056581,0.201406,0.977872]]
2025-10-25T04:10:44.532Z,1761365444.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:44.622Z,1761365444.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:44.873Z,1761365444.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:44.890Z,1761365444.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902050,0.409598,-0.136142],[-0.427955,0.889793,-0.158501],[0.056217,0.201239,0.977928]]
2025-10-25T04:10:44.912Z,1761365444.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:45.126Z,1761365445.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:45.336Z,1761365445.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903103,0.407532,-0.135359],[-0.425791,0.890727,-0.159082],[0.055737,0.201302,0.977942]]
2025-10-25T04:10:45.377Z,1761365445.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:45.388Z,1761365445.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:45.629Z,1761365445.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:45.774Z,1761365445.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904048,0.405643,-0.134722],[-0.423826,0.891578,-0.159561],[0.055390,0.201350,0.977952]]
2025-10-25T04:10:45.795Z,1761365445.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:45.882Z,1761365445.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:46.134Z,1761365446.134 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:46.181Z,1761365446.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904978,0.403766,-0.134116],[-0.421881,0.892406,-0.160084],[0.055049,0.201453,0.977950]]
2025-10-25T04:10:46.201Z,1761365446.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:46.385Z,1761365446.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:46.638Z,1761365446.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:46.640Z,1761365446.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:46.889Z,1761365446.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:47.053Z,1761365447.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906528,0.400682,-0.132892],[-0.418617,0.893859,-0.160546],[0.054459,0.201170,0.978041]]
2025-10-25T04:10:47.088Z,1761365447.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:47.142Z,1761365447.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:47.394Z,1761365447.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:47.471Z,1761365447.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907304,0.399044,-0.132529],[-0.416944,0.894591,-0.160824],[0.054383,0.201174,0.978045]]
2025-10-25T04:10:47.546Z,1761365447.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:47.645Z,1761365447.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:47.899Z,1761365447.899 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:47.932Z,1761365447.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908736,0.396009,-0.131815],[-0.413836,0.895941,-0.161338],[0.054207,0.201164,0.978057]]
2025-10-25T04:10:47.964Z,1761365447.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:48.150Z,1761365448.150 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:48.401Z,1761365448.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:48.436Z,1761365448.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:48.654Z,1761365448.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:48.793Z,1761365448.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910025,0.393060,-0.131755],[-0.410948,0.897164,-0.161923],[0.054561,0.201499,0.977968]]
2025-10-25T04:10:48.853Z,1761365448.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:48.906Z,1761365448.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:49.157Z,1761365449.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:49.257Z,1761365449.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910246,0.392570,-0.131683],[-0.410429,0.897469,-0.161546],[0.054763,0.201093,0.978040]]
2025-10-25T04:10:49.280Z,1761365449.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:49.410Z,1761365449.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:49.653Z,1761365449.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910750,0.391281,-0.132037],[-0.409246,0.897960,-0.161821],[0.055246,0.201414,0.977947]]
2025-10-25T04:10:49.661Z,1761365449.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:49.702Z,1761365449.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:49.913Z,1761365449.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:50.067Z,1761365450.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910900,0.390868,-0.132225],[-0.408857,0.898201,-0.161464],[0.055654,0.201138,0.977981]]
2025-10-25T04:10:50.102Z,1761365450.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:50.165Z,1761365450.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:50.418Z,1761365450.418 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:50.463Z,1761365450.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911311,0.389740,-0.132719],[-0.407853,0.898633,-0.161601],[0.056283,0.201399,0.977891]]
2025-10-25T04:10:50.524Z,1761365450.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:50.669Z,1761365450.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:50.865Z,1761365450.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911424,0.389295,-0.133249],[-0.407499,0.898863,-0.161214],[0.057013,0.201234,0.977883]]
2025-10-25T04:10:50.893Z,1761365450.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:50.930Z,1761365450.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:51.181Z,1761365451.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:51.269Z,1761365451.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911768,0.388293,-0.133820],[-0.406624,0.899266,-0.161174],[0.057757,0.201367,0.977811]]
2025-10-25T04:10:51.323Z,1761365451.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:51.434Z,1761365451.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:51.686Z,1761365451.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:51.715Z,1761365451.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911961,0.387599,-0.134513],[-0.406059,0.899584,-0.160827],[0.058669,0.201288,0.977774]]
2025-10-25T04:10:51.776Z,1761365451.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:51.938Z,1761365451.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:52.167Z,1761365452.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912148,0.386888,-0.135294],[-0.405491,0.899916,-0.160401],[0.059696,0.201170,0.977736]]
2025-10-25T04:10:52.189Z,1761365452.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:52.197Z,1761365452.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:52.442Z,1761365452.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:52.573Z,1761365452.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:10:52.663Z,1761365452.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:52.694Z,1761365452.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:52.945Z,1761365452.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:53.020Z,1761365453.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912684,0.385037,-0.136949],[-0.403965,0.900704,-0.159827],[0.061811,0.201194,0.977599]]
2025-10-25T04:10:53.046Z,1761365453.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:53.197Z,1761365453.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:53.451Z,1761365453.451 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:53.478Z,1761365453.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913069,0.383414,-0.138921],[-0.402712,0.901404,-0.159038],[0.064247,0.201158,0.977450]]
2025-10-25T04:10:53.518Z,1761365453.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:53.577Z,1761365453.577 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:10:53.701Z,1761365453.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:53.915Z,1761365453.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913094,0.383022,-0.139834],[-0.402463,0.901645,-0.158302],[0.065448,0.200822,0.977439]]
2025-10-25T04:10:53.957Z,1761365453.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:53.978Z,1761365453.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:54.212Z,1761365454.212 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:54.478Z,1761365454.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:54.481Z,1761365454.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:54.729Z,1761365454.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:54.837Z,1761365454.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913249,0.381816,-0.142102],[-0.401650,0.902216,-0.157109],[0.068220,0.200555,0.977304]]
2025-10-25T04:10:54.890Z,1761365454.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:54.982Z,1761365454.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:55.234Z,1761365455.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:55.238Z,1761365455.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913530,0.380652,-0.143413],[-0.400758,0.902633,-0.156991],[0.069690,0.200890,0.977132]]
2025-10-25T04:10:55.270Z,1761365455.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:55.485Z,1761365455.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:55.641Z,1761365455.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913516,0.380249,-0.144568],[-0.400544,0.902847,-0.156306],[0.071087,0.200694,0.977071]]
2025-10-25T04:10:55.687Z,1761365455.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:55.737Z,1761365455.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:55.989Z,1761365455.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:56.054Z,1761365456.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913736,0.379193,-0.145944],[-0.399767,0.903223,-0.156123],[0.072619,0.200999,0.976896]]
2025-10-25T04:10:56.099Z,1761365456.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:56.242Z,1761365456.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:56.494Z,1761365456.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:56.507Z,1761365456.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913615,0.379057,-0.147047],[-0.399790,0.903366,-0.155233],[0.073995,0.200611,0.976873]]
2025-10-25T04:10:56.566Z,1761365456.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:56.745Z,1761365456.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:56.994Z,1761365456.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:56.997Z,1761365456.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:57.249Z,1761365457.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:57.357Z,1761365457.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913785,0.377770,-0.149290],[-0.398893,0.903938,-0.154210],[0.076693,0.200465,0.976694]]
2025-10-25T04:10:57.398Z,1761365457.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:57.506Z,1761365457.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:57.757Z,1761365457.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:57.768Z,1761365457.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914170,0.376128,-0.151069],[-0.397588,0.904602,-0.153683],[0.078853,0.200556,0.976504]]
2025-10-25T04:10:57.828Z,1761365457.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:58.010Z,1761365458.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:58.187Z,1761365458.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914407,0.375235,-0.151851],[-0.396853,0.904948,-0.153551],[0.079800,0.200671,0.976403]]
2025-10-25T04:10:58.212Z,1761365458.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:58.262Z,1761365458.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:58.513Z,1761365458.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:58.612Z,1761365458.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914695,0.374236,-0.152580],[-0.396007,0.905329,-0.153485],[0.080696,0.200814,0.976300]]
2025-10-25T04:10:58.682Z,1761365458.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:58.765Z,1761365458.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:59.017Z,1761365459.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:59.088Z,1761365459.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914991,0.373337,-0.153009],[-0.395191,0.905712,-0.153331],[0.081338,0.200764,0.976257]]
2025-10-25T04:10:59.119Z,1761365459.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:59.269Z,1761365459.269 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:59.524Z,1761365459.524 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:59.542Z,1761365459.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915364,0.372365,-0.153141],[-0.394247,0.906143,-0.153213],[0.081717,0.200621,0.976255]]
2025-10-25T04:10:59.614Z,1761365459.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:10:59.773Z,1761365459.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:10:59.891Z,1761365459.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915830,0.371190,-0.153212],[-0.393097,0.906644,-0.153200],[0.082042,0.200533,0.976246]]
2025-10-25T04:10:59.912Z,1761365459.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:00.027Z,1761365460.027 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:00.277Z,1761365460.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:00.305Z,1761365460.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916532,0.369408,-0.153317],[-0.391390,0.907312,-0.153622],[0.082357,0.200806,0.976163]]
2025-10-25T04:11:00.325Z,1761365460.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:00.532Z,1761365460.532 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:00.752Z,1761365460.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:00.781Z,1761365460.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:01.033Z,1761365461.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:01.099Z,1761365461.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917919,0.366134,-0.152875],[-0.388110,0.908616,-0.154233],[0.082435,0.200906,0.976136]]
2025-10-25T04:11:01.125Z,1761365461.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:01.286Z,1761365461.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:01.523Z,1761365461.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918649,0.364503,-0.152386],[-0.386427,0.909270,-0.154603],[0.082207,0.200912,0.976154]]
2025-10-25T04:11:01.539Z,1761365461.539 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:01.594Z,1761365461.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:01.793Z,1761365461.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:01.908Z,1761365461.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919449,0.362699,-0.151865],[-0.384574,0.909977,-0.155063],[0.081953,0.200976,0.976162]]
2025-10-25T04:11:01.955Z,1761365461.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:02.043Z,1761365462.043 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:02.294Z,1761365462.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:02.316Z,1761365462.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920220,0.360940,-0.151384],[-0.382768,0.910672,-0.155449],[0.081754,0.200993,0.976175]]
2025-10-25T04:11:02.355Z,1761365462.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:02.549Z,1761365462.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:02.718Z,1761365462.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920807,0.359680,-0.150814],[-0.381412,0.911228,-0.155530],[0.081485,0.200735,0.976251]]
2025-10-25T04:11:02.779Z,1761365462.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:02.798Z,1761365462.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:03.049Z,1761365463.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:03.119Z,1761365463.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921681,0.357760,-0.150038],[-0.379400,0.911971,-0.156092],[0.080987,0.200792,0.976281]]
2025-10-25T04:11:03.162Z,1761365463.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:03.302Z,1761365463.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:03.556Z,1761365463.556 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:03.606Z,1761365463.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922379,0.356177,-0.149519],[-0.377761,0.912583,-0.156487],[0.080712,0.200823,0.976297]]
2025-10-25T04:11:03.666Z,1761365463.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:03.805Z,1761365463.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:03.984Z,1761365463.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923162,0.354457,-0.148767],[-0.375945,0.913253,-0.156950],[0.080230,0.200819,0.976338]]
2025-10-25T04:11:04.003Z,1761365464.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:04.058Z,1761365464.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:04.310Z,1761365464.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:04.372Z,1761365464.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923893,0.352895,-0.147944],[-0.374259,0.913889,-0.157278],[0.079701,0.200678,0.976410]]
2025-10-25T04:11:04.397Z,1761365464.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:11:04.399Z,1761365464.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:04.564Z,1761365464.564 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:04.777Z,1761365464.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924652,0.351103,-0.147461],[-0.372428,0.914554,-0.157760],[0.079471,0.200792,0.976405]]
2025-10-25T04:11:04.813Z,1761365464.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:04.824Z,1761365464.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:05.065Z,1761365465.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:05.184Z,1761365465.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925233,0.349874,-0.146735],[-0.371083,0.915062,-0.157984],[0.078997,0.200623,0.976478]]
2025-10-25T04:11:05.226Z,1761365465.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:05.317Z,1761365465.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:05.571Z,1761365465.571 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:05.637Z,1761365465.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925804,0.348575,-0.146225],[-0.369723,0.915552,-0.158334],[0.078685,0.200649,0.976498]]
2025-10-25T04:11:05.714Z,1761365465.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:05.822Z,1761365465.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:05.988Z,1761365465.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926132,0.347848,-0.145883],[-0.368937,0.915862,-0.158371],[0.078520,0.200495,0.976543]]
2025-10-25T04:11:06.018Z,1761365466.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:06.080Z,1761365466.080 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:06.334Z,1761365466.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:06.392Z,1761365466.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926578,0.346724,-0.145723],[-0.367831,0.916226,-0.158840],[0.078442,0.200779,0.976491]]
2025-10-25T04:11:06.411Z,1761365466.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:06.588Z,1761365466.588 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:06.798Z,1761365466.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926739,0.346436,-0.145382],[-0.367473,0.916379,-0.158788],[0.078215,0.200579,0.976550]]
2025-10-25T04:11:06.846Z,1761365466.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:06.857Z,1761365466.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:07.097Z,1761365467.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:07.199Z,1761365467.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927064,0.345625,-0.145243],[-0.366672,0.916634,-0.159166],[0.078123,0.200813,0.976510]]
2025-10-25T04:11:07.244Z,1761365467.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:07.351Z,1761365467.351 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:07.604Z,1761365467.604 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:07.708Z,1761365467.708 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-27W,-32768,-32768,V
2025-10-25T04:11:07.743Z,1761365467.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:07.853Z,1761365467.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:08.105Z,1761365468.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:08.126Z,1761365468.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927049,0.345601,-0.145398],[-0.366668,0.916664,-0.159006],[0.078328,0.200719,0.976513]]
2025-10-25T04:11:08.146Z,1761365468.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:08.358Z,1761365468.358 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:08.555Z,1761365468.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926990,0.345707,-0.145523],[-0.366799,0.916607,-0.159025],[0.078411,0.200792,0.976491]]
2025-10-25T04:11:08.612Z,1761365468.612 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:08.635Z,1761365468.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:08.862Z,1761365468.862 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:08.963Z,1761365468.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926899,0.345855,-0.145750],[-0.366992,0.916529,-0.159030],[0.078583,0.200894,0.976456]]
2025-10-25T04:11:09.029Z,1761365469.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:09.113Z,1761365469.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:09.367Z,1761365469.367 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:09.386Z,1761365469.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926776,0.346170,-0.145785],[-0.367310,0.916405,-0.159014],[0.078552,0.200918,0.976453]]
2025-10-25T04:11:09.406Z,1761365469.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:09.618Z,1761365469.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:09.829Z,1761365469.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:09.869Z,1761365469.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:10.121Z,1761365470.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:10.173Z,1761365470.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926755,0.346266,-0.145689],[-0.367398,0.916343,-0.159171],[0.078386,0.201038,0.976442]]
2025-10-25T04:11:10.195Z,1761365470.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:10.374Z,1761365470.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:10.578Z,1761365470.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926886,0.345859,-0.145823],[-0.367045,0.916434,-0.159454],[0.078489,0.201319,0.976376]]
2025-10-25T04:11:10.627Z,1761365470.627 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:10.683Z,1761365470.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:10.877Z,1761365470.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:10.981Z,1761365470.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926964,0.345738,-0.145615],[-0.366884,0.916497,-0.159468],[0.078322,0.201245,0.976405]]
2025-10-25T04:11:11.030Z,1761365471.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:11.130Z,1761365471.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:11.381Z,1761365471.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:11.386Z,1761365471.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927150,0.345356,-0.145333],[-0.366466,0.916628,-0.159673],[0.078072,0.201300,0.976413]]
2025-10-25T04:11:11.433Z,1761365471.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:11.637Z,1761365471.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:11.789Z,1761365471.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927406,0.344752,-0.145134],[-0.365857,0.916809,-0.160029],[0.077890,0.201510,0.976385]]
2025-10-25T04:11:11.862Z,1761365471.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:11.885Z,1761365471.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:12.137Z,1761365472.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:12.193Z,1761365472.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927663,0.344228,-0.144733],[-0.365279,0.916990,-0.160312],[0.077534,0.201584,0.976398]]
2025-10-25T04:11:12.219Z,1761365472.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:12.389Z,1761365472.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:12.597Z,1761365472.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927869,0.343814,-0.144397],[-0.364818,0.917138,-0.160520],[0.077243,0.201620,0.976413]]
2025-10-25T04:11:12.642Z,1761365472.642 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:12.680Z,1761365472.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:12.894Z,1761365472.894 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:13.015Z,1761365473.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927978,0.343785,-0.143768],[-0.364648,0.917233,-0.160358],[0.076740,0.201234,0.976533]]
2025-10-25T04:11:13.026Z,1761365473.026 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  63.29,  68.74,  73.84
2025-10-25T04:11:13.063Z,1761365473.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:13.145Z,1761365473.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:13.397Z,1761365473.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:13.410Z,1761365473.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928432,0.342775,-0.143247],[-0.363578,0.917581,-0.160799],[0.076323,0.201372,0.976537]]
2025-10-25T04:11:13.448Z,1761365473.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:13.649Z,1761365473.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:13.810Z,1761365473.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928868,0.341929,-0.142441],[-0.362595,0.917931,-0.161020],[0.075693,0.201215,0.976618]]
2025-10-25T04:11:13.860Z,1761365473.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:13.902Z,1761365473.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:14.153Z,1761365474.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:14.213Z,1761365474.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929517,0.340412,-0.141835],[-0.361021,0.918440,-0.161651],[0.075240,0.201463,0.976602]]
2025-10-25T04:11:14.233Z,1761365474.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:14.406Z,1761365474.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:14.619Z,1761365474.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929975,0.339448,-0.141144],[-0.359933,0.918857,-0.161711],[0.074799,0.201189,0.976692]]
2025-10-25T04:11:14.638Z,1761365474.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:14.658Z,1761365474.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:14.910Z,1761365474.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:15.076Z,1761365475.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:15.163Z,1761365475.163 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:15.413Z,1761365475.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:15.430Z,1761365475.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931174,0.336751,-0.139691],[-0.357036,0.919841,-0.162538],[0.073759,0.201226,0.976764]]
2025-10-25T04:11:15.448Z,1761365475.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:15.666Z,1761365475.666 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:15.831Z,1761365475.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931779,0.335253,-0.139262],[-0.355503,0.920352,-0.163003],[0.073523,0.201391,0.976748]]
2025-10-25T04:11:15.869Z,1761365475.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:15.922Z,1761365475.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:16.169Z,1761365476.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:16.233Z,1761365476.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932217,0.334255,-0.138728],[-0.354417,0.920752,-0.163108],[0.073215,0.201220,0.976806]]
2025-10-25T04:11:16.274Z,1761365476.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:16.422Z,1761365476.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:16.637Z,1761365476.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932562,0.333423,-0.138410],[-0.353531,0.921092,-0.163112],[0.073103,0.201044,0.976851]]
2025-10-25T04:11:16.657Z,1761365476.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:16.673Z,1761365476.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:16.926Z,1761365476.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:17.041Z,1761365477.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932959,0.332359,-0.138293],[-0.352468,0.921472,-0.163269],[0.073170,0.201067,0.976841]]
2025-10-25T04:11:17.091Z,1761365477.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:17.178Z,1761365477.178 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:17.431Z,1761365477.431 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:17.453Z,1761365477.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933178,0.331757,-0.138264],[-0.351857,0.921729,-0.163133],[0.073322,0.200881,0.976868]]
2025-10-25T04:11:17.474Z,1761365477.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:17.681Z,1761365477.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:17.857Z,1761365477.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933536,0.330623,-0.138561],[-0.350817,0.922078,-0.163399],[0.073741,0.201148,0.976781]]
2025-10-25T04:11:17.915Z,1761365477.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:17.933Z,1761365477.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:18.185Z,1761365478.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:18.254Z,1761365478.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933710,0.330025,-0.138815],[-0.350275,0.922292,-0.163352],[0.074118,0.201147,0.976753]]
2025-10-25T04:11:18.307Z,1761365478.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:18.437Z,1761365478.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:18.661Z,1761365478.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933706,0.329808,-0.139359],[-0.350152,0.922383,-0.163105],[0.074749,0.201088,0.976717]]
2025-10-25T04:11:18.694Z,1761365478.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:18.702Z,1761365478.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:18.945Z,1761365478.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:19.063Z,1761365479.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933691,0.329617,-0.139905],[-0.350059,0.922456,-0.162893],[0.075364,0.201067,0.976674]]
2025-10-25T04:11:19.130Z,1761365479.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:19.197Z,1761365479.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:19.449Z,1761365479.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:19.478Z,1761365479.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933246,0.330072,-0.141790],[-0.350826,0.922312,-0.162056],[0.077284,0.200982,0.976542]]
2025-10-25T04:11:19.500Z,1761365479.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:19.705Z,1761365479.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:19.874Z,1761365479.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933107,0.330025,-0.142812],[-0.350973,0.922287,-0.161876],[0.078291,0.201171,0.976422]]
2025-10-25T04:11:19.921Z,1761365479.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:19.956Z,1761365479.956 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:20.205Z,1761365480.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:20.282Z,1761365480.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932736,0.330639,-0.143811],[-0.351745,0.922079,-0.161390],[0.079243,0.201119,0.976356]]
2025-10-25T04:11:20.331Z,1761365480.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:20.457Z,1761365480.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:20.679Z,1761365480.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932532,0.330674,-0.145048],[-0.352019,0.922001,-0.161234],[0.080419,0.201415,0.976199]]
2025-10-25T04:11:20.702Z,1761365480.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:20.710Z,1761365480.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:20.961Z,1761365480.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:21.082Z,1761365481.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932185,0.331150,-0.146183],[-0.352685,0.921823,-0.160795],[0.081508,0.201448,0.976102]]
2025-10-25T04:11:21.131Z,1761365481.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:21.214Z,1761365481.214 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:21.465Z,1761365481.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:21.484Z,1761365481.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931909,0.331473,-0.147213],[-0.353184,0.921694,-0.160438],[0.082505,0.201507,0.976006]]
2025-10-25T04:11:21.506Z,1761365481.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:21.717Z,1761365481.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:21.895Z,1761365481.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931539,0.332064,-0.148222],[-0.353927,0.921507,-0.159877],[0.083498,0.201391,0.975946]]
2025-10-25T04:11:21.969Z,1761365481.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:21.982Z,1761365481.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:22.225Z,1761365482.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:22.300Z,1761365482.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931482,0.331858,-0.149037],[-0.353884,0.921534,-0.159815],[0.084306,0.201607,0.975831]]
2025-10-25T04:11:22.331Z,1761365482.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:22.473Z,1761365482.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:22.726Z,1761365482.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:22.738Z,1761365482.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:22.977Z,1761365482.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:23.102Z,1761365483.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931466,0.331314,-0.150342],[-0.353591,0.921689,-0.159570],[0.085701,0.201793,0.975671]]
2025-10-25T04:11:23.175Z,1761365483.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:23.230Z,1761365483.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:23.483Z,1761365483.483 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:23.509Z,1761365483.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931518,0.331046,-0.150609],[-0.353360,0.921820,-0.159328],[0.086090,0.201636,0.975670]]
2025-10-25T04:11:23.541Z,1761365483.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:23.697Z,1761365483.697 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:11:23.737Z,1761365483.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:23.915Z,1761365483.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931865,0.330077,-0.150589],[-0.352411,0.922156,-0.159482],[0.086225,0.201684,0.975648]]
2025-10-25T04:11:23.963Z,1761365483.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:23.985Z,1761365483.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:24.238Z,1761365484.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:24.354Z,1761365484.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:24.489Z,1761365484.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:24.707Z,1761365484.707 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:11:24.719Z,1761365484.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932620,0.328055,-0.150330],[-0.350379,0.922886,-0.159735],[0.086336,0.201645,0.975646]]
2025-10-25T04:11:24.738Z,1761365484.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:24.742Z,1761365484.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:24.994Z,1761365484.994 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:25.121Z,1761365485.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933187,0.326775,-0.149599],[-0.348983,0.923376,-0.159962],[0.085865,0.201482,0.975721]]
2025-10-25T04:11:25.168Z,1761365485.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:25.246Z,1761365485.246 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:25.497Z,1761365485.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:25.536Z,1761365485.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933865,0.325086,-0.149048],[-0.347243,0.923945,-0.160462],[0.085548,0.201606,0.975724]]
2025-10-25T04:11:25.575Z,1761365485.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:25.749Z,1761365485.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:25.950Z,1761365485.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934507,0.323619,-0.148212],[-0.345650,0.924484,-0.160795],[0.084983,0.201494,0.975796]]
2025-10-25T04:11:25.999Z,1761365485.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:26.001Z,1761365486.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:26.253Z,1761365486.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:26.336Z,1761365486.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935190,0.322038,-0.147350],[-0.343951,0.925036,-0.161267],[0.084370,0.201497,0.975849]]
2025-10-25T04:11:26.362Z,1761365486.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:26.505Z,1761365486.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:26.737Z,1761365486.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935978,0.320125,-0.146509],[-0.341940,0.925672,-0.161888],[0.083795,0.201621,0.975873]]
2025-10-25T04:11:26.757Z,1761365486.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:26.767Z,1761365486.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:27.009Z,1761365487.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:27.145Z,1761365487.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936631,0.318713,-0.145412],[-0.340341,0.926218,-0.162134],[0.083009,0.201349,0.975996]]
2025-10-25T04:11:27.210Z,1761365487.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:27.261Z,1761365487.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:27.513Z,1761365487.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:27.557Z,1761365487.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937492,0.316671,-0.144319],[-0.338159,0.926894,-0.162836],[0.082203,0.201460,0.976041]]
2025-10-25T04:11:27.596Z,1761365487.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:27.765Z,1761365487.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:28.017Z,1761365488.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:28.029Z,1761365488.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:28.269Z,1761365488.269 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:28.353Z,1761365488.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939114,0.312917,-0.141944],[-0.334070,0.928150,-0.164119],[0.080390,0.201545,0.976175]]
2025-10-25T04:11:28.386Z,1761365488.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:28.524Z,1761365488.524 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:28.757Z,1761365488.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939759,0.311478,-0.140833],[-0.332451,0.928667,-0.164483],[0.079554,0.201394,0.976274]]
2025-10-25T04:11:28.774Z,1761365488.774 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:28.807Z,1761365488.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:29.026Z,1761365489.026 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:29.162Z,1761365489.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940483,0.309755,-0.139797],[-0.330586,0.929224,-0.165090],[0.078765,0.201480,0.976321]]
2025-10-25T04:11:29.243Z,1761365489.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:29.278Z,1761365489.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:29.529Z,1761365489.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:29.580Z,1761365489.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941271,0.307777,-0.138862],[-0.328503,0.929828,-0.165849],[0.078073,0.201725,0.976325]]
2025-10-25T04:11:29.606Z,1761365489.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:29.781Z,1761365489.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:30.034Z,1761365490.034 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:30.062Z,1761365490.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:30.286Z,1761365490.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:30.373Z,1761365490.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942485,0.304797,-0.137189],[-0.325291,0.930792,-0.166771],[0.076863,0.201806,0.976405]]
2025-10-25T04:11:30.392Z,1761365490.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:30.537Z,1761365490.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:30.778Z,1761365490.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942861,0.304045,-0.136273],[-0.324363,0.931110,-0.166800],[0.076171,0.201471,0.976528]]
2025-10-25T04:11:30.789Z,1761365490.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:30.798Z,1761365490.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:31.043Z,1761365491.043 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:31.181Z,1761365491.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943456,0.302424,-0.135758],[-0.322713,0.931557,-0.167507],[0.075808,0.201847,0.976479]]
2025-10-25T04:11:31.227Z,1761365491.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:31.294Z,1761365491.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:31.545Z,1761365491.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:31.585Z,1761365491.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943772,0.301782,-0.134990],[-0.321930,0.931810,-0.167606],[0.075205,0.201639,0.976568]]
2025-10-25T04:11:31.602Z,1761365491.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:31.797Z,1761365491.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:32.025Z,1761365492.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944260,0.300373,-0.134720],[-0.320531,0.932182,-0.168214],[0.075057,0.202020,0.976501]]
2025-10-25T04:11:32.049Z,1761365492.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:32.067Z,1761365492.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:32.302Z,1761365492.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:32.395Z,1761365492.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944420,0.300060,-0.134296],[-0.320125,0.932345,-0.168085],[0.074775,0.201735,0.976582]]
2025-10-25T04:11:32.414Z,1761365492.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:32.553Z,1761365492.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:32.797Z,1761365492.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944687,0.299284,-0.134147],[-0.319347,0.932569,-0.168320],[0.074726,0.201850,0.976562]]
2025-10-25T04:11:32.805Z,1761365492.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:32.827Z,1761365492.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:33.057Z,1761365493.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:33.202Z,1761365493.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945014,0.298366,-0.133886],[-0.318411,0.932834,-0.168627],[0.074580,0.201986,0.976545]]
2025-10-25T04:11:33.250Z,1761365493.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:33.311Z,1761365493.311 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:33.561Z,1761365493.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:33.612Z,1761365493.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945087,0.298193,-0.133761],[-0.318200,0.932939,-0.168442],[0.074563,0.201755,0.976594]]
2025-10-25T04:11:33.637Z,1761365493.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:33.813Z,1761365493.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:34.052Z,1761365494.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945541,0.296798,-0.133656],[-0.316841,0.933308,-0.168962],[0.074595,0.202109,0.976518]]
2025-10-25T04:11:34.066Z,1761365494.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:34.126Z,1761365494.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:34.317Z,1761365494.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:34.427Z,1761365494.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945629,0.296598,-0.133473],[-0.316580,0.933461,-0.168605],[0.074584,0.201692,0.976605]]
2025-10-25T04:11:34.454Z,1761365494.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:34.570Z,1761365494.570 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:34.817Z,1761365494.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946061,0.295227,-0.133451],[-0.315250,0.933844,-0.168974],[0.074737,0.201930,0.976544]]
2025-10-25T04:11:34.821Z,1761365494.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:34.853Z,1761365494.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:35.073Z,1761365495.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:35.222Z,1761365495.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946477,0.294012,-0.133188],[-0.314014,0.934220,-0.169197],[0.074681,0.201964,0.976542]]
2025-10-25T04:11:35.288Z,1761365495.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:35.326Z,1761365495.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:35.577Z,1761365495.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:35.635Z,1761365495.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946924,0.292645,-0.133017],[-0.312652,0.934625,-0.169483],[0.074723,0.202076,0.976515]]
2025-10-25T04:11:35.658Z,1761365495.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:35.829Z,1761365495.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:36.082Z,1761365496.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:36.083Z,1761365496.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947651,0.290397,-0.132766],[-0.310388,0.935363,-0.169573],[0.074941,0.201905,0.976534]]
2025-10-25T04:11:36.130Z,1761365496.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:36.334Z,1761365496.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:36.524Z,1761365496.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948205,0.288635,-0.132657],[-0.308661,0.935856,-0.170007],[0.075078,0.202148,0.976473]]
2025-10-25T04:11:36.543Z,1761365496.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:36.586Z,1761365496.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:36.841Z,1761365496.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:36.930Z,1761365496.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948407,0.288020,-0.132545],[-0.308004,0.936135,-0.169658],[0.075215,0.201730,0.976549]]
2025-10-25T04:11:36.949Z,1761365496.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:37.089Z,1761365497.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:37.333Z,1761365497.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949048,0.285972,-0.132396],[-0.306001,0.936675,-0.170303],[0.075310,0.202139,0.976457]]
2025-10-25T04:11:37.342Z,1761365497.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:37.384Z,1761365497.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:37.594Z,1761365497.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:37.738Z,1761365497.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949345,0.284989,-0.132385],[-0.305020,0.937017,-0.170184],[0.075546,0.201943,0.976479]]
2025-10-25T04:11:37.756Z,1761365497.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:37.846Z,1761365497.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:38.099Z,1761365498.099 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:38.146Z,1761365498.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949935,0.283075,-0.132258],[-0.303137,0.937553,-0.170595],[0.075707,0.202147,0.976425]]
2025-10-25T04:11:38.206Z,1761365498.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:38.349Z,1761365498.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:38.546Z,1761365498.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950327,0.281925,-0.131900],[-0.301918,0.937972,-0.170454],[0.075663,0.201810,0.976498]]
2025-10-25T04:11:38.601Z,1761365498.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:38.602Z,1761365498.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:38.854Z,1761365498.854 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:38.954Z,1761365498.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950972,0.279778,-0.131818],[-0.299822,0.938549,-0.170974],[0.075883,0.202114,0.976418]]
2025-10-25T04:11:38.994Z,1761365498.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:39.108Z,1761365499.108 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:39.355Z,1761365499.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951448,0.278238,-0.131642],[-0.298271,0.939033,-0.171030],[0.076029,0.201991,0.976432]]
2025-10-25T04:11:39.357Z,1761365499.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:39.398Z,1761365499.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:39.610Z,1761365499.610 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:39.765Z,1761365499.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952162,0.275940,-0.131316],[-0.295980,0.939658,-0.171581],[0.076046,0.202239,0.976379]]
2025-10-25T04:11:39.792Z,1761365499.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:39.863Z,1761365499.863 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:40.115Z,1761365500.115 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:40.160Z,1761365500.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952617,0.274424,-0.131195],[-0.294454,0.940147,-0.171523],[0.076273,0.202027,0.976406]]
2025-10-25T04:11:40.214Z,1761365500.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:40.365Z,1761365500.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:40.571Z,1761365500.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953185,0.272470,-0.131146],[-0.292534,0.940702,-0.171766],[0.076568,0.202090,0.976369]]
2025-10-25T04:11:40.591Z,1761365500.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:40.617Z,1761365500.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:40.871Z,1761365500.871 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:40.971Z,1761365500.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953572,0.271156,-0.131057],[-0.291205,0.941149,-0.171579],[0.076819,0.201777,0.976414]]
2025-10-25T04:11:40.990Z,1761365500.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:41.123Z,1761365501.123 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:41.373Z,1761365501.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:41.374Z,1761365501.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954212,0.268919,-0.131001],[-0.289019,0.941744,-0.172008],[0.077113,0.201994,0.976346]]
2025-10-25T04:11:41.424Z,1761365501.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:41.627Z,1761365501.627 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:41.778Z,1761365501.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954731,0.267026,-0.131099],[-0.287186,0.942270,-0.172197],[0.077549,0.202051,0.976300]]
2025-10-25T04:11:41.824Z,1761365501.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:41.878Z,1761365501.878 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:42.131Z,1761365502.131 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:42.255Z,1761365502.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:42.381Z,1761365502.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:42.585Z,1761365502.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955799,0.263272,-0.130907],[-0.283478,0.943310,-0.172647],[0.078033,0.202125,0.976246]]
2025-10-25T04:11:42.624Z,1761365502.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:42.633Z,1761365502.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:42.885Z,1761365502.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:42.989Z,1761365502.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956103,0.262171,-0.130897],[-0.282371,0.943683,-0.172421],[0.078322,0.201814,0.976287]]
2025-10-25T04:11:43.009Z,1761365503.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:43.140Z,1761365503.140 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:43.389Z,1761365503.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:43.396Z,1761365503.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956697,0.259949,-0.130985],[-0.280239,0.944220,-0.172957],[0.078718,0.202174,0.976181]]
2025-10-25T04:11:43.468Z,1761365503.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:43.642Z,1761365503.642 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:43.796Z,1761365503.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956971,0.258889,-0.131081],[-0.279193,0.944575,-0.172709],[0.079104,0.201875,0.976212]]
2025-10-25T04:11:43.840Z,1761365503.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:43.894Z,1761365503.894 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:44.147Z,1761365504.147 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:44.213Z,1761365504.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957498,0.256917,-0.131112],[-0.277287,0.945059,-0.173134],[0.079428,0.202131,0.976132]]
2025-10-25T04:11:44.262Z,1761365504.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:44.397Z,1761365504.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:44.606Z,1761365504.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957768,0.255882,-0.131167],[-0.276257,0.945405,-0.172891],[0.079766,0.201825,0.976168]]
2025-10-25T04:11:44.632Z,1761365504.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:44.652Z,1761365504.652 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:44.902Z,1761365504.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:45.008Z,1761365505.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958268,0.253975,-0.131221],[-0.274416,0.945873,-0.173264],[0.080114,0.202043,0.976094]]
2025-10-25T04:11:45.038Z,1761365505.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:45.155Z,1761365505.155 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:45.405Z,1761365505.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:45.414Z,1761365505.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958805,0.251962,-0.131177],[-0.272452,0.946371,-0.173645],[0.080390,0.202231,0.976033]]
2025-10-25T04:11:45.467Z,1761365505.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:45.657Z,1761365505.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:45.873Z,1761365505.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:45.910Z,1761365505.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:46.163Z,1761365506.163 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:46.238Z,1761365506.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959834,0.248163,-0.130895],[-0.268688,0.947348,-0.174177],[0.080779,0.202351,0.975976]]
2025-10-25T04:11:46.297Z,1761365506.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:46.413Z,1761365506.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:46.624Z,1761365506.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960263,0.246576,-0.130751],[-0.267088,0.947811,-0.174121],[0.080993,0.202124,0.976005]]
2025-10-25T04:11:46.663Z,1761365506.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:46.666Z,1761365506.666 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:46.917Z,1761365506.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:47.028Z,1761365507.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960872,0.244363,-0.130431],[-0.264871,0.948360,-0.174520],[0.081049,0.202239,0.975977]]
2025-10-25T04:11:47.048Z,1761365507.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:47.171Z,1761365507.171 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:47.423Z,1761365507.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:47.439Z,1761365507.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961287,0.242912,-0.130081],[-0.263355,0.948808,-0.174379],[0.081063,0.201885,0.976049]]
2025-10-25T04:11:47.479Z,1761365507.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:47.673Z,1761365507.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:47.835Z,1761365507.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962033,0.240178,-0.129641],[-0.260631,0.949420,-0.175140],[0.081019,0.202279,0.975971]]
2025-10-25T04:11:47.897Z,1761365507.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:47.928Z,1761365507.928 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:48.178Z,1761365508.178 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:48.351Z,1761365508.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:48.429Z,1761365508.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:48.650Z,1761365508.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963289,0.235690,-0.128549],[-0.256043,0.950522,-0.175927],[0.080724,0.202383,0.975974]]
2025-10-25T04:11:48.674Z,1761365508.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:48.684Z,1761365508.684 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:48.933Z,1761365508.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:49.048Z,1761365509.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963907,0.233510,-0.127891],[-0.253780,0.951079,-0.176195],[0.080491,0.202292,0.976012]]
2025-10-25T04:11:49.086Z,1761365509.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:49.186Z,1761365509.186 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:49.437Z,1761365509.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:49.453Z,1761365509.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964536,0.231327,-0.127118],[-0.251486,0.951646,-0.176421],[0.080160,0.202133,0.976072]]
2025-10-25T04:11:49.512Z,1761365509.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:49.689Z,1761365509.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:49.856Z,1761365509.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965192,0.228952,-0.126437],[-0.249032,0.952227,-0.176765],[0.079926,0.202099,0.976098]]
2025-10-25T04:11:49.902Z,1761365509.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:49.942Z,1761365509.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:50.193Z,1761365510.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:50.302Z,1761365510.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966597,0.223822,-0.124878],[-0.243726,0.953434,-0.177656],[0.079300,0.202157,0.976137]]
2025-10-25T04:11:50.350Z,1761365510.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:50.445Z,1761365510.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:50.680Z,1761365510.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967235,0.221507,-0.124061],[-0.241303,0.953988,-0.177988],[0.078927,0.202093,0.976181]]
2025-10-25T04:11:50.698Z,1761365510.698 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:50.701Z,1761365510.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:50.949Z,1761365510.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:51.111Z,1761365511.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:51.202Z,1761365511.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:51.453Z,1761365511.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:51.473Z,1761365511.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968536,0.216728,-0.122342],[-0.236297,0.955106,-0.178705],[0.078120,0.201992,0.976267]]
2025-10-25T04:11:51.529Z,1761365511.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:51.705Z,1761365511.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:51.876Z,1761365511.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969307,0.213793,-0.121391],[-0.233266,0.955715,-0.179431],[0.077654,0.202240,0.976252]]
2025-10-25T04:11:51.904Z,1761365511.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:51.958Z,1761365511.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:52.210Z,1761365512.210 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:52.323Z,1761365512.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969754,0.212095,-0.120805],[-0.231471,0.956155,-0.179413],[0.077455,0.201949,0.976328]]
2025-10-25T04:11:52.386Z,1761365512.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:52.464Z,1761365512.464 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:52.697Z,1761365512.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970414,0.209498,-0.120034],[-0.228797,0.956692,-0.179977],[0.077131,0.202115,0.976320]]
2025-10-25T04:11:52.713Z,1761365512.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:52.717Z,1761365512.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:52.966Z,1761365512.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:53.094Z,1761365513.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970927,0.207523,-0.119307],[-0.226718,0.957150,-0.180176],[0.076804,0.201987,0.976372]]
2025-10-25T04:11:53.113Z,1761365513.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:53.217Z,1761365513.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:53.470Z,1761365513.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:53.492Z,1761365513.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971455,0.205312,-0.118832],[-0.224477,0.957595,-0.180616],[0.076710,0.202136,0.976349]]
2025-10-25T04:11:53.547Z,1761365513.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:53.721Z,1761365513.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:53.898Z,1761365513.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971842,0.203697,-0.118447],[-0.222811,0.957972,-0.180677],[0.076665,0.201981,0.976384]]
2025-10-25T04:11:53.924Z,1761365513.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:53.974Z,1761365513.974 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:54.226Z,1761365514.226 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:54.353Z,1761365514.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972313,0.201762,-0.117896],[-0.220816,0.958376,-0.180985],[0.076473,0.202008,0.976394]]
2025-10-25T04:11:54.402Z,1761365514.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:54.477Z,1761365514.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:54.705Z,1761365514.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972752,0.199764,-0.117680],[-0.218829,0.958764,-0.181341],[0.076602,0.202152,0.976354]]
2025-10-25T04:11:54.730Z,1761365514.730 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:54.759Z,1761365514.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:54.834Z,1761365514.834 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:11:54.981Z,1761365514.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:55.118Z,1761365515.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973132,0.198115,-0.117322],[-0.217145,0.959114,-0.181518],[0.076564,0.202117,0.976364]]
2025-10-25T04:11:55.190Z,1761365515.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:55.233Z,1761365515.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:55.485Z,1761365515.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:55.517Z,1761365515.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973520,0.196296,-0.117160],[-0.215346,0.959455,-0.181856],[0.076712,0.202270,0.976321]]
2025-10-25T04:11:55.564Z,1761365515.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:55.737Z,1761365515.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:55.838Z,1761365515.838 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:11:55.917Z,1761365515.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973783,0.195137,-0.116907],[-0.214145,0.959741,-0.181768],[0.076731,0.202037,0.976367]]
2025-10-25T04:11:55.955Z,1761365515.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:55.990Z,1761365515.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:56.242Z,1761365516.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:56.373Z,1761365516.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974148,0.193386,-0.116784],[-0.212418,0.960068,-0.182069],[0.076911,0.202169,0.976326]]
2025-10-25T04:11:56.424Z,1761365516.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:56.494Z,1761365516.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:56.732Z,1761365516.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974343,0.192427,-0.116738],[-0.211460,0.960288,-0.182024],[0.077076,0.202039,0.976340]]
2025-10-25T04:11:56.745Z,1761365516.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:56.765Z,1761365516.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:56.997Z,1761365516.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:57.128Z,1761365517.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974653,0.190844,-0.116744],[-0.209926,0.960564,-0.182341],[0.077342,0.202226,0.976280]]
2025-10-25T04:11:57.172Z,1761365517.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:57.249Z,1761365517.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:57.501Z,1761365517.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:57.533Z,1761365517.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974781,0.190205,-0.116726],[-0.209273,0.960752,-0.182102],[0.077508,0.201937,0.976327]]
2025-10-25T04:11:57.582Z,1761365517.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:57.753Z,1761365517.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:57.937Z,1761365517.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975153,0.188398,-0.116543],[-0.207498,0.961033,-0.182646],[0.077591,0.202290,0.976247]]
2025-10-25T04:11:57.962Z,1761365517.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:58.006Z,1761365518.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:58.257Z,1761365518.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:58.347Z,1761365518.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975289,0.187607,-0.116685],[-0.206734,0.961230,-0.182477],[0.077928,0.202091,0.976261]]
2025-10-25T04:11:58.427Z,1761365518.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:58.510Z,1761365518.510 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:58.744Z,1761365518.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975565,0.186173,-0.116669],[-0.205337,0.961485,-0.182710],[0.078160,0.202202,0.976220]]
2025-10-25T04:11:58.761Z,1761365518.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:58.801Z,1761365518.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:59.013Z,1761365519.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:59.153Z,1761365519.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975880,0.184521,-0.116664],[-0.203735,0.961761,-0.183053],[0.078426,0.202406,0.976156]]
2025-10-25T04:11:59.176Z,1761365519.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:59.266Z,1761365519.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:59.517Z,1761365519.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:59.553Z,1761365519.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976111,0.183353,-0.116571],[-0.202562,0.962017,-0.183008],[0.078589,0.202249,0.976176]]
2025-10-25T04:11:59.607Z,1761365519.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:11:59.770Z,1761365519.770 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:11:59.956Z,1761365519.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976376,0.181907,-0.116621],[-0.201158,0.962283,-0.183160],[0.078904,0.202292,0.976141]]
2025-10-25T04:11:59.978Z,1761365519.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:00.023Z,1761365520.023 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:00.278Z,1761365520.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:00.449Z,1761365520.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:00.529Z,1761365520.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:00.765Z,1761365520.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976936,0.178937,-0.116519],[-0.198236,0.962831,-0.183466],[0.079360,0.202332,0.976096]]
2025-10-25T04:12:00.781Z,1761365520.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:00.813Z,1761365520.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:01.033Z,1761365521.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:01.168Z,1761365521.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977169,0.177739,-0.116403],[-0.197032,0.963076,-0.183473],[0.079494,0.202220,0.976109]]
2025-10-25T04:12:01.191Z,1761365521.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:01.286Z,1761365521.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:01.537Z,1761365521.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:01.576Z,1761365521.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977445,0.176276,-0.116314],[-0.195582,0.963347,-0.183605],[0.079686,0.202213,0.976094]]
2025-10-25T04:12:01.635Z,1761365521.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:01.790Z,1761365521.790 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:01.976Z,1761365521.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977681,0.174900,-0.116402],[-0.194254,0.963591,-0.183730],[0.080030,0.202241,0.976060]]
2025-10-25T04:12:01.000Z,1761365522.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:02.042Z,1761365522.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:02.294Z,1761365522.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:02.380Z,1761365522.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977893,0.173771,-0.116315],[-0.193116,0.963839,-0.183633],[0.080199,0.202035,0.976089]]
2025-10-25T04:12:02.472Z,1761365522.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:02.546Z,1761365522.546 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:02.784Z,1761365522.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978178,0.172302,-0.116103],[-0.191634,0.964111,-0.183755],[0.080275,0.201995,0.976091]]
2025-10-25T04:12:02.797Z,1761365522.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:02.838Z,1761365522.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:03.049Z,1761365523.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:03.193Z,1761365523.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978445,0.170796,-0.116078],[-0.190156,0.964380,-0.183882],[0.080537,0.201991,0.976070]]
2025-10-25T04:12:03.217Z,1761365523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:03.302Z,1761365523.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:03.554Z,1761365523.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:03.593Z,1761365523.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978813,0.168633,-0.116139],[-0.188079,0.964688,-0.184402],[0.080942,0.202338,0.975965]]
2025-10-25T04:12:03.649Z,1761365523.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:03.805Z,1761365523.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:03.997Z,1761365523.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978983,0.167611,-0.116182],[-0.187053,0.964951,-0.184070],[0.081258,0.201933,0.976023]]
2025-10-25T04:12:04.017Z,1761365524.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:04.058Z,1761365524.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:04.310Z,1761365524.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:04.402Z,1761365524.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979383,0.165345,-0.116059],[-0.184837,0.965281,-0.184575],[0.081511,0.202221,0.975942]]
2025-10-25T04:12:04.423Z,1761365524.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:12:04.426Z,1761365524.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:04.561Z,1761365524.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:04.804Z,1761365524.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979662,0.163684,-0.116061],[-0.183203,0.965586,-0.184608],[0.081850,0.202116,0.975935]]
2025-10-25T04:12:04.813Z,1761365524.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:04.856Z,1761365524.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:05.065Z,1761365525.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:05.212Z,1761365525.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979999,0.161670,-0.116036],[-0.181231,0.965915,-0.184835],[0.082198,0.202167,0.975895]]
2025-10-25T04:12:05.252Z,1761365525.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:05.253Z,1761365525.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 14.40 m and bearing: 280.823669 deg. Not drifting fast enough.
2025-10-25T04:12:05.318Z,1761365525.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:05.569Z,1761365525.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:05.612Z,1761365525.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980251,0.160114,-0.116066],[-0.179698,0.966215,-0.184763],[0.082561,0.201971,0.975905]]
2025-10-25T04:12:05.684Z,1761365525.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:05.686Z,1761365525.686 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-10-25T04:12:05.686Z,1761365525.686 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-25T04:12:05.686Z,1761365525.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-10-25T04:12:05.686Z,1761365525.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-10-25T04:12:05.822Z,1761365525.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:06.026Z,1761365526.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980575,0.158123,-0.116060],[-0.177754,0.966530,-0.184993],[0.082924,0.202030,0.975862]]
2025-10-25T04:12:06.046Z,1761365526.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:06.074Z,1761365526.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:06.326Z,1761365526.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:06.420Z,1761365526.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980855,0.156385,-0.116048],[-0.176045,0.966828,-0.185075],[0.083256,0.201961,0.975848]]
2025-10-25T04:12:06.478Z,1761365526.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:06.577Z,1761365526.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:06.829Z,1761365526.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:06.881Z,1761365526.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:07.082Z,1761365527.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:07.238Z,1761365527.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981658,0.151276,-0.116027],[-0.171024,0.967686,-0.185294],[0.084247,0.201739,0.975809]]
2025-10-25T04:12:07.260Z,1761365527.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:07.334Z,1761365527.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:07.585Z,1761365527.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:07.640Z,1761365527.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982024,0.149056,-0.115803],[-0.168824,0.967996,-0.185691],[0.084419,0.201904,0.975760]]
2025-10-25T04:12:07.719Z,1761365527.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:07.837Z,1761365527.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:08.039Z,1761365528.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982184,0.148442,-0.115238],[-0.167897,0.968614,-0.183297],[0.084412,0.199380,0.976280]]
2025-10-25T04:12:08.076Z,1761365528.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:08.090Z,1761365528.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:08.343Z,1761365528.343 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:08.440Z,1761365528.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982471,0.147702,-0.113733],[-0.166476,0.969709,-0.178748],[0.083886,0.194549,0.977299]]
2025-10-25T04:12:08.459Z,1761365528.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:08.594Z,1761365528.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:08.846Z,1761365528.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:08.846Z,1761365528.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982823,0.146967,-0.111620],[-0.164798,0.971147,-0.172382],[0.083065,0.187816,0.978686]]
2025-10-25T04:12:08.896Z,1761365528.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:09.097Z,1761365529.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:09.256Z,1761365529.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983057,0.147079,-0.109395],[-0.163824,0.972692,-0.164412],[0.082226,0.179548,0.980307]]
2025-10-25T04:12:09.294Z,1761365529.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:09.351Z,1761365529.351 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:09.605Z,1761365529.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:09.716Z,1761365529.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:09.853Z,1761365529.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:10.063Z,1761365530.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983520,0.146259,-0.106284],[-0.161619,0.974725,-0.154242],[0.081038,0.168878,0.982300]]
2025-10-25T04:12:10.083Z,1761365530.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:10.105Z,1761365530.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:10.359Z,1761365530.359 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:10.461Z,1761365530.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983733,0.144670,-0.106487],[-0.160309,0.974497,-0.157024],[0.081055,0.171541,0.981837]]
2025-10-25T04:12:10.510Z,1761365530.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:10.610Z,1761365530.610 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:10.861Z,1761365530.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:10.867Z,1761365530.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983781,0.143849,-0.107154],[-0.159972,0.973844,-0.161362],[0.081140,0.175886,0.981061]]
2025-10-25T04:12:10.924Z,1761365530.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:11.113Z,1761365531.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:11.283Z,1761365531.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983922,0.142601,-0.107529],[-0.159015,0.973574,-0.163912],[0.081313,0.178376,0.980597]]
2025-10-25T04:12:11.351Z,1761365531.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:11.365Z,1761365531.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:11.617Z,1761365531.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:11.728Z,1761365531.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:11.870Z,1761365531.870 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:12.077Z,1761365532.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984074,0.142259,-0.106584],[-0.158118,0.974502,-0.159200],[0.081219,0.173517,0.981476]]
2025-10-25T04:12:12.096Z,1761365532.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:12.121Z,1761365532.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:12.374Z,1761365532.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:12.481Z,1761365532.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984156,0.142013,-0.106162],[-0.157659,0.974854,-0.157490],[0.081127,0.171732,0.981798]]
2025-10-25T04:12:12.501Z,1761365532.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:12.626Z,1761365532.626 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:12.877Z,1761365532.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:12.944Z,1761365532.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:13.129Z,1761365533.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:13.302Z,1761365533.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984978,0.136872,-0.105280],[-0.152753,0.974964,-0.161592],[0.080527,0.175247,0.981226]]
2025-10-25T04:12:13.337Z,1761365533.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:13.381Z,1761365533.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:13.635Z,1761365533.635 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:13.697Z,1761365533.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985743,0.131887,-0.104480],[-0.147957,0.975131,-0.165012],[0.080118,0.178118,0.980742]]
2025-10-25T04:12:13.757Z,1761365533.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:13.890Z,1761365533.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:14.143Z,1761365534.143 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:14.152Z,1761365534.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986700,0.124976,-0.103944],[-0.141336,0.975462,-0.168814],[0.080296,0.181260,0.980152]]
2025-10-25T04:12:14.189Z,1761365534.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:14.394Z,1761365534.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:14.552Z,1761365534.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987827,0.116933,-0.102590],[-0.133436,0.975935,-0.172467],[0.079954,0.184057,0.979658]]
2025-10-25T04:12:14.608Z,1761365534.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:14.648Z,1761365534.648 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:14.897Z,1761365534.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:15.056Z,1761365535.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989073,0.107762,-0.100607],[-0.124208,0.976718,-0.174911],[0.079415,0.185496,0.979431]]
2025-10-25T04:12:15.095Z,1761365535.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:15.150Z,1761365535.150 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:15.403Z,1761365535.403 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:15.547Z,1761365535.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:15.654Z,1761365535.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:15.905Z,1761365535.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:15.907Z,1761365535.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991628,0.087419,-0.095038],[-0.103463,0.978266,-0.179699],[0.077264,0.188027,0.979120]]
2025-10-25T04:12:16.005Z,1761365536.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:16.159Z,1761365536.159 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:16.332Z,1761365536.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994261,0.061732,-0.087377],[-0.077748,0.977964,-0.193756],[0.073490,0.199437,0.977151]]
2025-10-25T04:12:16.374Z,1761365536.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:16.409Z,1761365536.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:16.664Z,1761365536.664 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:16.720Z,1761365536.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995491,0.047246,-0.082250],[-0.062936,0.977753,-0.200097],[0.070967,0.204371,0.976318]]
2025-10-25T04:12:16.769Z,1761365536.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:16.913Z,1761365536.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:17.166Z,1761365537.166 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:17.210Z,1761365537.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996543,0.032697,-0.076371],[-0.047801,0.977548,-0.205220],[0.067946,0.208161,0.975732]]
2025-10-25T04:12:17.231Z,1761365537.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:17.417Z,1761365537.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:17.691Z,1761365537.691 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:17.728Z,1761365537.728 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,        +9.27,      -1 8,

2025-10-25T04:12:17.756Z,1761365537.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:17.922Z,1761365537.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:18.138Z,1761365538.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998019,0.000948,-0.062907],[-0.014498,0.976438,-0.215309],[0.061220,0.215794,0.974518]]
2025-10-25T04:12:18.169Z,1761365538.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:18.173Z,1761365538.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:18.426Z,1761365538.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:18.539Z,1761365538.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998372,-0.014857,-0.055068],[0.002369,0.975450,-0.220207],[0.056988,0.219718,0.973898]]
2025-10-25T04:12:18.562Z,1761365538.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:18.681Z,1761365538.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:18.929Z,1761365538.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:19.022Z,1761365539.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:19.181Z,1761365539.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:19.347Z,1761365539.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998050,-0.049853,-0.037550],[0.039971,0.972630,-0.228896],[0.047934,0.226949,0.972726]]
2025-10-25T04:12:19.380Z,1761365539.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:19.434Z,1761365539.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:19.688Z,1761365539.688 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:19.753Z,1761365539.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997289,-0.068029,-0.028050],[0.059743,0.971097,-0.231086],[0.042959,0.228784,0.972529]]
2025-10-25T04:12:19.806Z,1761365539.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:19.937Z,1761365539.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:20.155Z,1761365540.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996052,-0.086866,-0.018311],[0.080251,0.969241,-0.232660],[0.037958,0.230272,0.972386]]
2025-10-25T04:12:20.177Z,1761365540.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:20.189Z,1761365540.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:20.441Z,1761365540.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:20.578Z,1761365540.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994347,-0.105826,-0.008610],[0.100885,0.966965,-0.234097],[0.033099,0.231906,0.972175]]
2025-10-25T04:12:20.597Z,1761365540.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:20.696Z,1761365540.696 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:20.946Z,1761365540.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:21.026Z,1761365541.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:21.198Z,1761365541.198 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:21.450Z,1761365541.450 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:21.459Z,1761365541.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985662,-0.167171,0.022892],[0.167700,0.955594,-0.242315],[0.018632,0.242680,0.969928]]
2025-10-25T04:12:21.481Z,1761365541.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:21.704Z,1761365541.704 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:21.867Z,1761365541.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981634,-0.187771,0.033719],[0.190279,0.950948,-0.243909],[0.013734,0.245845,0.969212]]
2025-10-25T04:12:21.934Z,1761365541.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:21.953Z,1761365541.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:22.205Z,1761365542.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:22.265Z,1761365542.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976726,-0.209661,0.045253],[0.214315,0.945479,-0.245231],[0.008630,0.249222,0.968408]]
2025-10-25T04:12:22.313Z,1761365542.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:22.457Z,1761365542.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:22.670Z,1761365542.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971485,-0.230262,0.056539],[0.237080,0.940206,-0.244552],[0.003153,0.250983,0.967986]]
2025-10-25T04:12:22.720Z,1761365542.720 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:22.783Z,1761365542.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:22.970Z,1761365542.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:23.073Z,1761365543.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965307,-0.252084,0.068096],[0.261111,0.933960,-0.244007],[-0.002089,0.253322,0.967380]]
2025-10-25T04:12:23.122Z,1761365543.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:23.222Z,1761365543.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:23.473Z,1761365543.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:23.486Z,1761365543.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958729,-0.272948,0.079609],[0.284219,0.927534,-0.242692],[-0.007598,0.255303,0.966831]]
2025-10-25T04:12:23.519Z,1761365543.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:23.728Z,1761365543.728 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:23.881Z,1761365543.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951093,-0.295046,0.091481],[0.308625,0.920183,-0.240859],[-0.013115,0.257313,0.966239]]
2025-10-25T04:12:23.940Z,1761365543.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:23.978Z,1761365543.978 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:24.229Z,1761365544.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:24.297Z,1761365544.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943102,-0.316013,0.103415],[0.331981,0.912345,-0.239615],[-0.018629,0.260314,0.965344]]
2025-10-25T04:12:24.321Z,1761365544.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:24.483Z,1761365544.483 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:24.729Z,1761365544.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:24.736Z,1761365544.736 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:24.986Z,1761365544.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:25.094Z,1761365545.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925163,-0.357815,0.126655],[0.378469,0.895003,-0.236073],[-0.028887,0.266341,0.963446]]
2025-10-25T04:12:25.144Z,1761365545.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:25.238Z,1761365545.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:25.489Z,1761365545.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:25.508Z,1761365545.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915583,-0.377905,0.137461],[0.400724,0.885970,-0.233403],[-0.033582,0.268783,0.962615]]
2025-10-25T04:12:25.529Z,1761365545.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:25.744Z,1761365545.744 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:25.951Z,1761365545.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:25.961Z,1761365545.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:12:25.994Z,1761365545.994 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:26.245Z,1761365546.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:26.319Z,1761365546.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894970,-0.417500,0.157237],[0.444196,0.866676,-0.227076],[-0.041469,0.273070,0.961100]]
2025-10-25T04:12:26.347Z,1761365546.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:26.497Z,1761365546.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:26.710Z,1761365546.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883287,-0.438127,0.166883],[0.466695,0.855631,-0.223813],[-0.044732,0.275574,0.960239]]
2025-10-25T04:12:26.729Z,1761365546.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:26.749Z,1761365546.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:26.966Z,1761365546.966 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:12:27.001Z,1761365547.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:27.114Z,1761365547.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871650,-0.457731,0.175237],[0.487764,0.845182,-0.218527],[-0.048081,0.275953,0.959968]]
2025-10-25T04:12:27.154Z,1761365547.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:27.254Z,1761365547.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:27.505Z,1761365547.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:27.517Z,1761365547.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858871,-0.478188,0.183509],[0.509630,0.833627,-0.212939],[-0.051154,0.276409,0.959678]]
2025-10-25T04:12:27.564Z,1761365547.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:27.761Z,1761365547.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:27.926Z,1761365547.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846065,-0.497344,0.191893],[0.530294,0.821972,-0.207725],[-0.054420,0.277509,0.959181]]
2025-10-25T04:12:28.010Z,1761365548.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:28.055Z,1761365548.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:28.261Z,1761365548.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:28.370Z,1761365548.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:28.513Z,1761365548.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:28.733Z,1761365548.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816420,-0.537513,0.211041],[0.574164,0.794592,-0.197381],[-0.061596,0.282318,0.957341]]
2025-10-25T04:12:28.752Z,1761365548.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:28.765Z,1761365548.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:29.018Z,1761365549.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:29.137Z,1761365549.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800695,-0.557011,0.220516],[0.595465,0.780327,-0.191079],[-0.065641,0.284305,0.956484]]
2025-10-25T04:12:29.189Z,1761365549.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:29.271Z,1761365549.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:29.521Z,1761365549.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:29.545Z,1761365549.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784266,-0.576521,0.229237],[0.616476,0.765750,-0.183261],[-0.069885,0.285044,0.955963]]
2025-10-25T04:12:29.570Z,1761365549.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:29.777Z,1761365549.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:29.953Z,1761365549.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766749,-0.596447,0.237378],[0.637667,0.750282,-0.174521],[-0.074008,0.285181,0.955612]]
2025-10-25T04:12:30.019Z,1761365550.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:30.026Z,1761365550.026 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:30.278Z,1761365550.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:30.350Z,1761365550.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749221,-0.615243,0.245242],[0.657655,0.734934,-0.165413],[-0.078468,0.285215,0.955246]]
2025-10-25T04:12:30.385Z,1761365550.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:30.529Z,1761365550.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:30.541Z,1761365550.541 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:12:30.752Z,1761365550.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730448,-0.634183,0.253493],[0.678015,0.717973,-0.157512],[-0.082110,0.286927,0.954427]]
2025-10-25T04:12:30.770Z,1761365550.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:30.781Z,1761365550.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:31.033Z,1761365551.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:31.156Z,1761365551.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711402,-0.652089,0.262082],[0.697532,0.700661,-0.150077],[-0.085767,0.289576,0.953305]]
2025-10-25T04:12:31.204Z,1761365551.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:31.287Z,1761365551.287 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:31.537Z,1761365551.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:31.561Z,1761365551.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689909,-0.671347,0.270775],[0.718442,0.680837,-0.142486],[-0.088696,0.292839,0.952039]]
2025-10-25T04:12:31.579Z,1761365551.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:31.794Z,1761365551.794 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:32.043Z,1761365552.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:32.046Z,1761365552.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:32.298Z,1761365552.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:32.369Z,1761365552.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645628,-0.709797,0.281695],[0.757929,0.640676,-0.122792],[-0.093318,0.292783,0.951614]]
2025-10-25T04:12:32.398Z,1761365552.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:32.549Z,1761365552.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:32.772Z,1761365552.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622348,-0.728406,0.286546],[0.776960,0.619280,-0.113254],[-0.094957,0.293118,0.951349]]
2025-10-25T04:12:32.792Z,1761365552.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:32.801Z,1761365552.801 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:33.053Z,1761365553.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:33.240Z,1761365553.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:33.312Z,1761365553.312 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:33.561Z,1761365553.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:33.595Z,1761365553.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572931,-0.764693,0.294947],[0.813755,0.573646,-0.093449],[-0.097735,0.293554,0.950933]]
2025-10-25T04:12:33.640Z,1761365553.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:33.813Z,1761365553.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:33.988Z,1761365553.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547826,-0.782380,0.296258],[0.830703,0.550664,-0.081863],[-0.099090,0.290949,0.951593]]
2025-10-25T04:12:34.038Z,1761365554.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:34.065Z,1761365554.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:34.317Z,1761365554.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:34.388Z,1761365554.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521420,-0.799202,0.298993],[0.847372,0.526202,-0.071223],[-0.100409,0.290496,0.951594]]
2025-10-25T04:12:34.408Z,1761365554.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:34.569Z,1761365554.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:34.793Z,1761365554.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495097,-0.814558,0.302283],[0.862946,0.501466,-0.062091],[-0.101008,0.291595,0.951194]]
2025-10-25T04:12:34.812Z,1761365554.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:34.821Z,1761365554.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:35.074Z,1761365555.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:35.255Z,1761365555.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:35.327Z,1761365555.327 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:35.577Z,1761365555.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:35.701Z,1761365555.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412183,-0.856569,0.310475],[0.905574,0.422639,-0.036211],[-0.100202,0.296084,0.949892]]
2025-10-25T04:12:35.724Z,1761365555.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:35.830Z,1761365555.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:36.081Z,1761365556.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:36.102Z,1761365556.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382906,-0.869200,0.312850],[0.918403,0.394692,-0.027475],[-0.099598,0.297842,0.949405]]
2025-10-25T04:12:36.152Z,1761365556.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:36.334Z,1761365556.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:36.585Z,1761365556.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:36.602Z,1761365556.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:36.843Z,1761365556.843 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:37.002Z,1761365557.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323965,-0.891152,0.317640],[0.940697,0.339157,-0.007910],[-0.100681,0.301366,0.948178]]
2025-10-25T04:12:37.073Z,1761365557.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:37.094Z,1761365557.094 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:37.345Z,1761365557.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:37.399Z,1761365557.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293742,-0.901129,0.318877],[0.950445,0.310878,0.002996],[-0.101832,0.302195,0.947791]]
2025-10-25T04:12:37.444Z,1761365557.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:37.599Z,1761365557.599 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:37.807Z,1761365557.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263304,-0.910071,0.320065],[0.959146,0.282547,0.014346],[-0.103489,0.303212,0.947287]]
2025-10-25T04:12:37.847Z,1761365557.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:37.849Z,1761365557.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:38.101Z,1761365558.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:38.207Z,1761365558.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233559,-0.918525,0.319002],[0.966595,0.254946,0.026387],[-0.105566,0.302183,0.947387]]
2025-10-25T04:12:38.275Z,1761365558.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:38.354Z,1761365558.354 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:38.605Z,1761365558.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:38.615Z,1761365558.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203576,-0.925168,0.320345],[0.973098,0.227252,0.037918],[-0.107880,0.304007,0.946542]]
2025-10-25T04:12:38.644Z,1761365558.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:38.858Z,1761365558.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:39.029Z,1761365559.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172777,-0.931513,0.320049],[0.978767,0.198758,0.050109],[-0.110289,0.304596,0.946075]]
2025-10-25T04:12:39.103Z,1761365559.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:39.110Z,1761365559.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:39.361Z,1761365559.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:39.419Z,1761365559.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141436,-0.937765,0.317165],[0.983452,0.169744,0.063325],[-0.113220,0.302960,0.946254]]
2025-10-25T04:12:39.440Z,1761365559.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:39.614Z,1761365559.614 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:39.829Z,1761365559.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109745,-0.943278,0.313340],[0.987165,0.140234,0.076413],[-0.116020,0.300933,0.946562]]
2025-10-25T04:12:39.865Z,1761365559.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:39.868Z,1761365559.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:40.118Z,1761365560.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:40.313Z,1761365560.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:40.370Z,1761365560.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:40.623Z,1761365560.623 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:40.632Z,1761365560.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047443,-0.948721,0.312534],[0.991410,0.082901,0.101157],[-0.121879,0.305050,0.944505]]
2025-10-25T04:12:40.653Z,1761365560.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:40.874Z,1761365560.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:41.063Z,1761365561.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016851,-0.949898,0.312107],[0.992016,0.054903,0.113536],[-0.124983,0.307701,0.943239]]
2025-10-25T04:12:41.117Z,1761365561.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:41.126Z,1761365561.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:41.377Z,1761365561.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:41.439Z,1761365561.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013176,-0.950604,0.310127],[0.991632,0.027411,0.126152],[-0.128422,0.309194,0.942288]]
2025-10-25T04:12:41.470Z,1761365561.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:41.630Z,1761365561.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:41.846Z,1761365561.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041694,-0.952088,0.302970],[0.990319,0.000802,0.138807],[-0.132400,0.305824,0.942837]]
2025-10-25T04:12:41.890Z,1761365561.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:41.895Z,1761365561.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:42.143Z,1761365562.143 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:42.247Z,1761365562.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068690,-0.954338,0.290725],[0.988166,-0.025023,0.151335],[-0.137150,0.297679,0.944763]]
2025-10-25T04:12:42.326Z,1761365562.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:42.394Z,1761365562.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:42.645Z,1761365562.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:42.656Z,1761365562.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093666,-0.956339,0.276845],[0.985407,-0.049354,0.162904],[-0.142128,0.288063,0.947005]]
2025-10-25T04:12:42.678Z,1761365562.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:42.899Z,1761365562.899 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:43.080Z,1761365563.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116247,-0.958133,0.261663],[0.982129,-0.071626,0.174049],[-0.148021,0.277220,0.949336]]
2025-10-25T04:12:43.120Z,1761365563.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:43.151Z,1761365563.151 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:43.401Z,1761365563.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:43.459Z,1761365563.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136894,-0.959437,0.246455],[0.978557,-0.092326,0.184124],[-0.153901,0.266375,0.951503]]
2025-10-25T04:12:43.479Z,1761365563.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:43.653Z,1761365563.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:43.867Z,1761365563.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.156149,-0.959632,0.233929],[0.974691,-0.111343,0.193855],[-0.159983,0.258279,0.952731]]
2025-10-25T04:12:43.893Z,1761365563.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:43.907Z,1761365563.907 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:44.159Z,1761365564.159 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:44.370Z,1761365564.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:44.410Z,1761365564.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:44.685Z,1761365564.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:44.725Z,1761365564.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188222,-0.960598,0.204510],[0.966750,-0.144511,0.210977],[-0.173110,0.237420,0.955858]]
2025-10-25T04:12:44.789Z,1761365564.789 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:12:44.807Z,1761365564.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:44.939Z,1761365564.939 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:45.175Z,1761365565.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:45.190Z,1761365565.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:45.442Z,1761365565.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:45.496Z,1761365565.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210730,-0.961826,0.174598],[0.959353,-0.169186,0.225872],[-0.187710,0.215099,0.958383]]
2025-10-25T04:12:45.532Z,1761365565.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:45.694Z,1761365565.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:45.889Z,1761365565.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219473,-0.962290,0.160717],[0.955919,-0.179167,0.232631],[-0.195064,0.204688,0.959194]]
2025-10-25T04:12:45.921Z,1761365565.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:45.948Z,1761365565.948 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:46.197Z,1761365566.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:46.303Z,1761365566.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226251,-0.963213,0.145020],[0.952841,-0.187942,0.238269],[-0.202248,0.192089,0.960311]]
2025-10-25T04:12:46.371Z,1761365566.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:46.449Z,1761365566.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:46.698Z,1761365566.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231236,-0.964248,0.129441],[0.950050,-0.195134,0.243573],[-0.209607,0.179298,0.961206]]
2025-10-25T04:12:46.702Z,1761365566.702 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:46.737Z,1761365566.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:46.955Z,1761365566.955 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:47.147Z,1761365567.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236788,-0.966864,0.095427],[0.945461,-0.206699,0.251752],[-0.223686,0.149835,0.963075]]
2025-10-25T04:12:47.205Z,1761365567.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:47.213Z,1761365567.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:47.458Z,1761365567.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:47.507Z,1761365567.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238081,-0.967825,0.081438],[0.943556,-0.210600,0.255634],[-0.230258,0.137703,0.963337]]
2025-10-25T04:12:47.528Z,1761365567.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:47.711Z,1761365567.711 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:47.927Z,1761365567.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238375,-0.968691,0.069386],[0.941792,-0.213132,0.260007],[-0.237078,0.127326,0.963111]]
2025-10-25T04:12:47.950Z,1761365567.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:47.961Z,1761365567.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:48.213Z,1761365568.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:48.362Z,1761365568.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238146,-0.969405,0.059502],[0.940245,-0.214764,0.264226],[-0.243363,0.118871,0.962624]]
2025-10-25T04:12:48.427Z,1761365568.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:48.465Z,1761365568.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:48.717Z,1761365568.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:48.775Z,1761365568.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237324,-0.970148,0.049907],[0.938826,-0.215857,0.268349],[-0.249565,0.110539,0.962028]]
2025-10-25T04:12:48.807Z,1761365568.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:48.969Z,1761365568.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:49.209Z,1761365569.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235989,-0.970820,0.042632],[0.937560,-0.215930,0.272682],[-0.255519,0.104320,0.961159]]
2025-10-25T04:12:49.221Z,1761365569.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:49.275Z,1761365569.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:49.473Z,1761365569.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:49.615Z,1761365569.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234135,-0.971510,0.036744],[0.936462,-0.215212,0.276987],[-0.261188,0.099261,0.960171]]
2025-10-25T04:12:49.634Z,1761365569.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:49.727Z,1761365569.727 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:49.979Z,1761365569.979 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:50.033Z,1761365570.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231866,-0.972179,0.033250],[0.935476,-0.213481,0.281623],[-0.266690,0.096403,0.958949]]
2025-10-25T04:12:50.052Z,1761365570.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:50.230Z,1761365570.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:50.420Z,1761365570.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228807,-0.973048,0.028714],[0.934775,-0.211383,0.285503],[-0.271739,0.092167,0.957947]]
2025-10-25T04:12:50.479Z,1761365570.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:50.481Z,1761365570.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:50.733Z,1761365570.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:50.857Z,1761365570.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225393,-0.973983,0.023546],[0.934113,-0.209173,0.289273],[-0.276822,0.087195,0.956957]]
2025-10-25T04:12:50.889Z,1761365570.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:50.987Z,1761365570.987 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:51.237Z,1761365571.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:51.256Z,1761365571.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221763,-0.974890,0.020263],[0.933577,-0.206275,0.293061],[-0.281522,0.083907,0.955879]]
2025-10-25T04:12:51.331Z,1761365571.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:51.493Z,1761365571.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:51.742Z,1761365571.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:51.746Z,1761365571.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218340,-0.975709,0.017858],[0.933195,-0.203404,0.296266],[-0.285437,0.081352,0.954939]]
2025-10-25T04:12:51.778Z,1761365571.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:51.995Z,1761365571.995 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:52.193Z,1761365572.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215658,-0.976329,0.016532],[0.932920,-0.201011,0.298755],[-0.288360,0.079852,0.954187]]
2025-10-25T04:12:52.245Z,1761365572.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:52.291Z,1761365572.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:52.498Z,1761365572.498 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:52.565Z,1761365572.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212821,-0.976979,0.014805],[0.932764,-0.198631,0.300827],[-0.290961,0.077832,0.953564]]
2025-10-25T04:12:52.609Z,1761365572.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:52.749Z,1761365572.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:53.001Z,1761365573.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:53.016Z,1761365573.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:53.254Z,1761365573.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:53.448Z,1761365573.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:53.506Z,1761365573.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:53.761Z,1761365573.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:53.838Z,1761365573.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205288,-0.978389,0.024737],[0.932307,-0.187805,0.309086],[-0.297760,0.086514,0.950712]]
2025-10-25T04:12:53.857Z,1761365573.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:54.009Z,1761365574.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:54.236Z,1761365574.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203656,-0.978662,0.027313],[0.932188,-0.185307,0.310946],[-0.299250,0.088787,0.950035]]
2025-10-25T04:12:54.261Z,1761365574.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:54.317Z,1761365574.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:54.514Z,1761365574.514 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:54.734Z,1761365574.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202675,-0.978804,0.029413],[0.932150,-0.183637,0.312049],[-0.300033,0.090662,0.949611]]
2025-10-25T04:12:54.755Z,1761365574.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:54.778Z,1761365574.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:55.031Z,1761365575.031 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:55.142Z,1761365575.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201148,-0.979109,0.029747],[0.932296,-0.182035,0.312549],[-0.300604,0.090601,0.949436]]
2025-10-25T04:12:55.167Z,1761365575.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:55.283Z,1761365575.283 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:55.533Z,1761365575.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:55.543Z,1761365575.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199692,-0.979396,0.030116],[0.932530,-0.180521,0.312729],[-0.300849,0.090533,0.949365]]
2025-10-25T04:12:55.621Z,1761365575.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:55.786Z,1761365575.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:55.950Z,1761365575.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198855,-0.979548,0.030684],[0.932791,-0.179574,0.312497],[-0.300596,0.090763,0.949423]]
2025-10-25T04:12:56.001Z,1761365576.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:56.039Z,1761365576.039 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:56.290Z,1761365576.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:56.353Z,1761365576.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197537,-0.979761,0.032359],[0.933180,-0.177830,0.312334],[-0.300258,0.091894,0.949421]]
2025-10-25T04:12:56.413Z,1761365576.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:56.542Z,1761365576.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:56.767Z,1761365576.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196370,-0.979980,0.032819],[0.933671,-0.176657,0.311530],[-0.299495,0.091818,0.949669]]
2025-10-25T04:12:56.789Z,1761365576.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:56.793Z,1761365576.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:57.045Z,1761365577.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:57.086Z,1761365577.086 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:12:57.156Z,1761365577.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195245,-0.980200,0.032968],[0.934161,-0.175626,0.310642],[-0.298701,0.091449,0.949955]]
2025-10-25T04:12:57.187Z,1761365577.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:57.298Z,1761365577.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:57.549Z,1761365577.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:57.563Z,1761365577.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193961,-0.980432,0.033643],[0.934660,-0.174272,0.309902],[-0.297975,0.091553,0.950173]]
2025-10-25T04:12:57.614Z,1761365577.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:57.802Z,1761365577.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:57.976Z,1761365577.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192863,-0.980646,0.033736],[0.935063,-0.173260,0.309253],[-0.297422,0.091188,0.950381]]
2025-10-25T04:12:57.994Z,1761365577.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:58.054Z,1761365578.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:58.090Z,1761365578.090 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:12:58.306Z,1761365578.306 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:58.370Z,1761365578.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190906,-0.981053,0.033004],[0.935568,-0.171673,0.308610],[-0.297097,0.089793,0.950616]]
2025-10-25T04:12:58.445Z,1761365578.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:58.559Z,1761365578.559 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:58.773Z,1761365578.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189174,-0.981448,0.031206],[0.936013,-0.170628,0.307840],[-0.296804,0.087445,0.950926]]
2025-10-25T04:12:58.802Z,1761365578.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:58.810Z,1761365578.810 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:59.063Z,1761365579.063 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:59.185Z,1761365579.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187327,-0.981865,0.029146],[0.936513,-0.169564,0.306906],[-0.296398,0.084787,0.951294]]
2025-10-25T04:12:59.228Z,1761365579.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:59.314Z,1761365579.314 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:59.565Z,1761365579.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:59.582Z,1761365579.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185286,-0.982311,0.027083],[0.936946,-0.168285,0.306288],[-0.296312,0.082127,0.951554]]
2025-10-25T04:12:59.643Z,1761365579.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:12:59.817Z,1761365579.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:12:59.993Z,1761365579.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183713,-0.982623,0.026474],[0.937308,-0.166999,0.305884],[-0.296148,0.081009,0.951701]]
2025-10-25T04:13:00.013Z,1761365580.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:00.070Z,1761365580.070 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:00.321Z,1761365580.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:00.388Z,1761365580.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181984,-0.982971,0.025473],[0.937738,-0.165699,0.305273],[-0.295854,0.079442,0.951924]]
2025-10-25T04:13:00.447Z,1761365580.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:00.573Z,1761365580.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:00.827Z,1761365580.827 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:00.882Z,1761365580.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180898,-0.983157,0.026055],[0.937994,-0.164502,0.305132],[-0.295707,0.079637,0.951953]]
2025-10-25T04:13:00.903Z,1761365580.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:01.078Z,1761365581.078 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:01.332Z,1761365581.332 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:01.405Z,1761365581.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:01.582Z,1761365581.582 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:01.798Z,1761365581.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179090,-0.983427,0.028262],[0.939186,-0.162337,0.302615],[-0.293011,0.080739,0.952694]]
2025-10-25T04:13:01.833Z,1761365581.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:01.851Z,1761365581.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:02.086Z,1761365582.086 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:02.193Z,1761365582.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179005,-0.983416,0.029145],[0.939730,-0.162131,0.301034],[-0.291317,0.081275,0.953168]]
2025-10-25T04:13:02.222Z,1761365582.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:02.340Z,1761365582.340 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:02.589Z,1761365582.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:02.602Z,1761365582.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180000,-0.983179,0.030967],[0.940186,-0.162702,0.299298],[-0.289225,0.082988,0.953657]]
2025-10-25T04:13:02.642Z,1761365582.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:02.842Z,1761365582.842 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:03.000Z,1761365583.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180296,-0.983057,0.033040],[0.940736,-0.162530,0.297656],[-0.287243,0.084748,0.954101]]
2025-10-25T04:13:03.033Z,1761365583.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:03.093Z,1761365583.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:03.348Z,1761365583.348 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:03.404Z,1761365583.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180877,-0.982919,0.033968],[0.941274,-0.162995,0.295696],[-0.285108,0.085458,0.954678]]
2025-10-25T04:13:03.452Z,1761365583.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:03.597Z,1761365583.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:03.810Z,1761365583.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181385,-0.982793,0.034899],[0.941841,-0.163399,0.293660],[-0.282904,0.086134,0.955273]]
2025-10-25T04:13:03.830Z,1761365583.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:03.849Z,1761365583.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:04.101Z,1761365584.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:04.217Z,1761365584.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182282,-0.982569,0.036502],[0.942275,-0.163961,0.291950],[-0.280876,0.087612,0.955737]]
2025-10-25T04:13:04.241Z,1761365584.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:04.356Z,1761365584.356 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:04.605Z,1761365584.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:04.690Z,1761365584.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:04.711Z,1761365584.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:04.858Z,1761365584.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:05.023Z,1761365585.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183641,-0.982239,0.038514],[0.943171,-0.165027,0.288436],[-0.276957,0.089294,0.956724]]
2025-10-25T04:13:05.062Z,1761365585.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:05.109Z,1761365585.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:05.364Z,1761365585.364 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:05.424Z,1761365585.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184071,-0.982118,0.039526],[0.943640,-0.165320,0.286726],[-0.275065,0.090077,0.957197]]
2025-10-25T04:13:05.473Z,1761365585.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:05.613Z,1761365585.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:05.829Z,1761365585.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184197,-0.982077,0.039950],[0.944053,-0.165461,0.285284],[-0.273560,0.090264,0.957610]]
2025-10-25T04:13:05.864Z,1761365585.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:05.865Z,1761365585.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:06.118Z,1761365586.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:06.321Z,1761365586.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183575,-0.982204,0.039689],[0.944580,-0.165077,0.283757],[-0.272156,0.089580,0.958074]]
2025-10-25T04:13:06.372Z,1761365586.372 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:06.405Z,1761365586.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:06.623Z,1761365586.623 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:06.804Z,1761365586.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182789,-0.982369,0.039227],[0.945121,-0.164588,0.282235],[-0.270802,0.088664,0.958543]]
2025-10-25T04:13:06.869Z,1761365586.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:06.873Z,1761365586.873 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:07.125Z,1761365587.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:07.319Z,1761365587.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180403,-0.982845,0.038339],[0.946565,-0.162886,0.278358],[-0.267338,0.086507,0.959712]]
2025-10-25T04:13:07.338Z,1761365587.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:07.380Z,1761365587.380 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:07.629Z,1761365587.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:07.687Z,1761365587.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179402,-0.982998,0.039108],[0.947368,-0.161912,0.276185],[-0.265157,0.086598,0.960309]]
2025-10-25T04:13:07.763Z,1761365587.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:07.882Z,1761365587.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:08.089Z,1761365588.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177910,-0.983260,0.039349],[0.948282,-0.160624,0.273791],[-0.262887,0.086024,0.960984]]
2025-10-25T04:13:08.131Z,1761365588.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:08.133Z,1761365588.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:08.388Z,1761365588.388 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:08.552Z,1761365588.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:08.638Z,1761365588.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:08.889Z,1761365588.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:08.898Z,1761365588.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174819,-0.983866,0.038034],[0.949995,-0.158397,0.269110],[-0.258743,0.083177,0.962358]]
2025-10-25T04:13:08.945Z,1761365588.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:09.142Z,1761365589.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:09.314Z,1761365589.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173378,-0.984137,0.037618],[0.950830,-0.157313,0.266787],[-0.256637,0.082024,0.963021]]
2025-10-25T04:13:09.368Z,1761365589.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:09.396Z,1761365589.396 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:09.661Z,1761365589.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:09.705Z,1761365589.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172489,-0.984285,0.037830],[0.951570,-0.156588,0.264564],[-0.254483,0.081632,0.963626]]
2025-10-25T04:13:09.778Z,1761365589.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:09.913Z,1761365589.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:10.109Z,1761365590.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171358,-0.984417,0.039492],[0.952284,-0.155221,0.262797],[-0.252572,0.082640,0.964043]]
2025-10-25T04:13:10.155Z,1761365590.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:10.165Z,1761365590.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:10.420Z,1761365590.420 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:10.513Z,1761365590.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171143,-0.984391,0.041039],[0.952832,-0.154772,0.261068],[-0.250641,0.083783,0.964448]]
2025-10-25T04:13:10.584Z,1761365590.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:10.670Z,1761365590.670 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:10.919Z,1761365590.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171159,-0.984257,0.044080],[0.953301,-0.154144,0.259725],[-0.248841,0.086475,0.964676]]
2025-10-25T04:13:10.921Z,1761365590.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:10.943Z,1761365590.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:11.173Z,1761365591.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:11.324Z,1761365591.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171777,-0.983982,0.047663],[0.953587,-0.153935,0.258795],[-0.247313,0.089906,0.964756]]
2025-10-25T04:13:11.357Z,1761365591.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:11.429Z,1761365591.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:11.677Z,1761365591.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:11.827Z,1761365591.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172597,-0.983662,0.051183],[0.953852,-0.153952,0.257808],[-0.245716,0.093318,0.964840]]
2025-10-25T04:13:11.876Z,1761365591.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:11.930Z,1761365591.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:12.181Z,1761365592.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:12.230Z,1761365592.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174245,-0.983190,0.054557],[0.953971,-0.154815,0.256848],[-0.244084,0.096800,0.964911]]
2025-10-25T04:13:12.249Z,1761365592.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:12.436Z,1761365592.436 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:12.655Z,1761365592.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176065,-0.982569,0.059654],[0.954162,-0.155447,0.255755],[-0.242024,0.101949,0.964899]]
2025-10-25T04:13:12.685Z,1761365592.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:12.761Z,1761365592.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:12.937Z,1761365592.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:13.064Z,1761365593.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178035,-0.981894,0.064711],[0.954435,-0.156303,0.254212],[-0.239495,0.107021,0.964981]]
2025-10-25T04:13:13.085Z,1761365593.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:13.190Z,1761365593.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:13.442Z,1761365593.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:13.498Z,1761365593.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180477,-0.981137,0.069264],[0.954746,-0.157826,0.252094],[-0.236408,0.111627,0.965221]]
2025-10-25T04:13:13.541Z,1761365593.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:13.694Z,1761365593.694 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:13.865Z,1761365593.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182532,-0.980618,0.071201],[0.955143,-0.159681,0.249406],[-0.233203,0.113531,0.965778]]
2025-10-25T04:13:13.915Z,1761365593.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:13.946Z,1761365593.946 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:14.198Z,1761365594.198 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:14.268Z,1761365594.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185193,-0.979979,0.073109],[0.955446,-0.162157,0.246633],[-0.229840,0.115527,0.966347]]
2025-10-25T04:13:14.318Z,1761365594.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:14.452Z,1761365594.452 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:14.676Z,1761365594.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186441,-0.979765,0.072800],[0.955936,-0.163805,0.243627],[-0.226772,0.115014,0.967133]]
2025-10-25T04:13:14.701Z,1761365594.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:14.733Z,1761365594.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:14.954Z,1761365594.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:15.078Z,1761365595.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187892,-0.979560,0.071831],[0.956422,-0.165830,0.240327],[-0.223503,0.113857,0.968030]]
2025-10-25T04:13:15.105Z,1761365595.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:15.205Z,1761365595.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:15.458Z,1761365595.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:15.513Z,1761365595.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189147,-0.979446,0.070065],[0.956993,-0.167886,0.236599],[-0.219973,0.111803,0.969078]]
2025-10-25T04:13:15.566Z,1761365595.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:15.710Z,1761365595.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:15.962Z,1761365595.962 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:15.981Z,1761365595.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:16.214Z,1761365596.214 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:16.305Z,1761365596.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190348,-0.979545,0.065255],[0.958187,-0.170910,0.229492],[-0.213645,0.106210,0.971120]]
2025-10-25T04:13:16.355Z,1761365596.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:16.467Z,1761365596.467 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:16.696Z,1761365596.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190279,-0.979731,0.062617],[0.958788,-0.171745,0.226340],[-0.210998,0.103104,0.972034]]
2025-10-25T04:13:16.717Z,1761365596.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:16.747Z,1761365596.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:16.970Z,1761365596.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:17.018Z,1761365597.018 [CTD_Seabird](ERROR): Failed to parse device response: 60.95,11.1878,38096.70
2025-10-25T04:13:17.104Z,1761365597.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189850,-0.980193,0.056377],[0.960123,-0.173347,0.219352],[-0.205235,0.095773,0.974015]]
2025-10-25T04:13:17.135Z,1761365597.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:17.222Z,1761365597.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:17.474Z,1761365597.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:17.599Z,1761365597.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:17.726Z,1761365597.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:17.910Z,1761365597.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188463,-0.980485,0.055952],[0.961530,-0.172625,0.213685],[-0.199857,0.094071,0.975299]]
2025-10-25T04:13:17.977Z,1761365597.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:17.978Z,1761365597.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:18.229Z,1761365598.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:18.383Z,1761365598.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187568,-0.980701,0.055171],[0.962187,-0.172152,0.211093],[-0.197521,0.092679,0.975908]]
2025-10-25T04:13:18.444Z,1761365598.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:18.484Z,1761365598.484 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:18.733Z,1761365598.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:18.883Z,1761365598.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186786,-0.980910,0.054088],[0.962876,-0.171874,0.208156],[-0.194886,0.090961,0.976599]]
2025-10-25T04:13:18.936Z,1761365598.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:18.986Z,1761365598.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:19.237Z,1761365599.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:19.315Z,1761365599.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185875,-0.981085,0.054060],[0.963646,-0.171271,0.205067],[-0.191930,0.090211,0.977254]]
2025-10-25T04:13:19.359Z,1761365599.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:19.490Z,1761365599.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:19.704Z,1761365599.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184848,-0.981221,0.055100],[0.964533,-0.170383,0.201608],[-0.188434,0.090413,0.977915]]
2025-10-25T04:13:19.742Z,1761365599.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:19.777Z,1761365599.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:19.993Z,1761365599.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:20.109Z,1761365600.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183671,-0.981416,0.055574],[0.965481,-0.169489,0.197786],[-0.184692,0.089983,0.978669]]
2025-10-25T04:13:20.136Z,1761365600.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:20.245Z,1761365600.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:20.497Z,1761365600.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:20.535Z,1761365600.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182421,-0.981577,0.056827],[0.966401,-0.168356,0.194228],[-0.181083,0.090348,0.979309]]
2025-10-25T04:13:20.616Z,1761365600.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:20.749Z,1761365600.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:20.985Z,1761365600.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:21.001Z,1761365601.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:21.253Z,1761365601.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:21.327Z,1761365601.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178979,-0.982128,0.058229],[0.968350,-0.165385,0.186939],[-0.173968,0.089844,0.980644]]
2025-10-25T04:13:21.350Z,1761365601.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:21.505Z,1761365601.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:21.731Z,1761365601.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177663,-0.982355,0.058433],[0.969262,-0.164408,0.183036],[-0.170200,0.089155,0.981368]]
2025-10-25T04:13:21.758Z,1761365601.758 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:21.784Z,1761365601.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:22.010Z,1761365602.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:22.133Z,1761365602.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175723,-0.982684,0.058768],[0.970237,-0.162776,0.179289],[-0.166618,0.088524,0.982040]]
2025-10-25T04:13:22.175Z,1761365602.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:22.261Z,1761365602.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:22.513Z,1761365602.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:22.541Z,1761365602.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173623,-0.983024,0.059318],[0.971229,-0.160948,0.175525],[-0.162998,0.088087,0.982686]]
2025-10-25T04:13:22.624Z,1761365602.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:22.765Z,1761365602.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:23.008Z,1761365603.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:23.021Z,1761365603.021 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:23.270Z,1761365603.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:23.386Z,1761365603.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:23.522Z,1761365603.522 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:23.748Z,1761365603.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169875,-0.983507,0.062104],[0.974038,-0.158002,0.162129],[-0.149642,0.088034,0.984813]]
2025-10-25T04:13:23.773Z,1761365603.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:23.803Z,1761365603.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:24.026Z,1761365604.026 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:24.154Z,1761365604.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168640,-0.983603,0.063923],[0.974928,-0.156899,0.157789],[-0.145173,0.088930,0.985402]]
2025-10-25T04:13:24.175Z,1761365604.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:24.278Z,1761365604.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:24.529Z,1761365604.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:24.556Z,1761365604.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168099,-0.983546,0.066190],[0.975702,-0.156435,0.153406],[-0.140527,0.090369,0.985944]]
2025-10-25T04:13:24.669Z,1761365604.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:24.782Z,1761365604.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:24.969Z,1761365604.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167515,-0.983433,0.069274],[0.976454,-0.155817,0.149195],[-0.135929,0.092635,0.986378]]
2025-10-25T04:13:25.026Z,1761365605.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:25.033Z,1761365605.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:25.287Z,1761365605.287 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:25.420Z,1761365605.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:25.537Z,1761365605.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:25.771Z,1761365605.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168139,-0.982906,0.075000],[0.977605,-0.156496,0.140706],[-0.126563,0.096978,0.987207]]
2025-10-25T04:13:25.789Z,1761365605.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:25.819Z,1761365605.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:26.042Z,1761365606.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:26.173Z,1761365606.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168624,-0.982707,0.076505],[0.978115,-0.157226,0.136276],[-0.121891,0.097810,0.987712]]
2025-10-25T04:13:26.210Z,1761365606.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:26.294Z,1761365606.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:26.547Z,1761365606.547 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:26.583Z,1761365606.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170164,-0.982065,0.081191],[0.978859,-0.158968,0.128703],[-0.113488,0.101376,0.988354]]
2025-10-25T04:13:26.621Z,1761365606.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:26.797Z,1761365606.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:26.987Z,1761365606.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171431,-0.981637,0.083667],[0.979112,-0.160334,0.125029],[-0.109319,0.103353,0.988619]]
2025-10-25T04:13:27.049Z,1761365607.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:27.062Z,1761365607.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:27.302Z,1761365607.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:27.385Z,1761365607.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172321,-0.981310,0.085653],[0.979392,-0.161385,0.121438],[-0.105345,0.104814,0.988897]]
2025-10-25T04:13:27.426Z,1761365607.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:27.553Z,1761365607.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:27.805Z,1761365607.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:27.849Z,1761365607.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:28.059Z,1761365608.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:28.194Z,1761365608.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176238,-0.980490,0.087057],[0.979525,-0.165943,0.113993],[-0.097322,0.105364,0.989660]]
2025-10-25T04:13:28.215Z,1761365608.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:28.217Z,1761365608.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:13:28.309Z,1761365608.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:28.561Z,1761365608.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:28.597Z,1761365608.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178373,-0.979965,0.088607],[0.979543,-0.168325,0.110281],[-0.093157,0.106465,0.989943]]
2025-10-25T04:13:28.635Z,1761365608.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:28.814Z,1761365608.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:29.004Z,1761365609.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180069,-0.979491,0.090406],[0.979587,-0.170216,0.106940],[-0.089358,0.107817,0.990147]]
2025-10-25T04:13:29.058Z,1761365609.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:29.069Z,1761365609.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:29.221Z,1761365609.221 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:13:29.321Z,1761365609.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:29.406Z,1761365609.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181581,-0.979135,0.091233],[0.979627,-0.172014,0.103648],[-0.085792,0.108195,0.990421]]
2025-10-25T04:13:29.435Z,1761365609.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:29.573Z,1761365609.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:29.809Z,1761365609.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182419,-0.978985,0.091171],[0.979764,-0.173225,0.100281],[-0.082381,0.107619,0.990773]]
2025-10-25T04:13:29.826Z,1761365609.826 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:29.866Z,1761365609.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:30.080Z,1761365610.080 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:30.214Z,1761365610.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182577,-0.979074,0.089891],[0.980011,-0.173877,0.096669],[-0.079016,0.105744,0.991249]]
2025-10-25T04:13:30.234Z,1761365610.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:30.330Z,1761365610.330 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:30.582Z,1761365610.582 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:30.624Z,1761365610.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182190,-0.979100,0.090386],[0.980349,-0.173809,0.093303],[-0.075643,0.105609,0.991527]]
2025-10-25T04:13:30.647Z,1761365610.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:30.833Z,1761365610.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:31.021Z,1761365611.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181152,-0.979382,0.089415],[0.980772,-0.173199,0.089934],[-0.072593,0.103988,0.991926]]
2025-10-25T04:13:31.080Z,1761365611.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:31.085Z,1761365611.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:31.338Z,1761365611.338 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:31.424Z,1761365611.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180110,-0.979895,0.085823],[0.981188,-0.172810,0.086059],[-0.069498,0.099709,0.992587]]
2025-10-25T04:13:31.445Z,1761365611.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:31.589Z,1761365611.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:31.842Z,1761365611.842 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:31.891Z,1761365611.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:32.098Z,1761365612.098 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:32.238Z,1761365612.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176930,-0.980714,0.083037],[0.982130,-0.170425,0.079850],[-0.064158,0.095681,0.993342]]
2025-10-25T04:13:32.259Z,1761365612.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:32.346Z,1761365612.346 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:32.600Z,1761365612.600 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:32.635Z,1761365612.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175196,-0.980985,0.083520],[0.982598,-0.168904,0.077284],[-0.061708,0.095606,0.993505]]
2025-10-25T04:13:32.676Z,1761365612.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:32.850Z,1761365612.850 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:33.101Z,1761365613.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:33.135Z,1761365613.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173528,-0.981293,0.083375],[0.983027,-0.167468,0.074921],[-0.059557,0.094961,0.993698]]
2025-10-25T04:13:33.146Z,1761365613.146 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA,  0.00, 145.81,
2025-10-25T04:13:33.198Z,1761365613.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:33.353Z,1761365613.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:33.533Z,1761365613.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171721,-0.981667,0.082716],[0.983465,-0.165921,0.072574],[-0.057519,0.093811,0.993927]]
2025-10-25T04:13:33.552Z,1761365613.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:33.605Z,1761365613.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:33.858Z,1761365613.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:33.969Z,1761365613.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169821,-0.981894,0.083928],[0.983929,-0.164170,0.070229],[-0.055179,0.094506,0.993994]]
2025-10-25T04:13:34.030Z,1761365614.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:34.110Z,1761365614.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:34.361Z,1761365614.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:34.362Z,1761365614.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167971,-0.982106,0.085165],[0.984379,-0.162479,0.067817],[-0.052766,0.095226,0.994056]]
2025-10-25T04:13:34.388Z,1761365614.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:34.614Z,1761365614.614 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:34.833Z,1761365614.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165991,-0.982492,0.084599],[0.984842,-0.160784,0.065080],[-0.050338,0.094119,0.994287]]
2025-10-25T04:13:34.865Z,1761365614.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:34.926Z,1761365614.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:35.117Z,1761365615.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:35.234Z,1761365615.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164878,-0.982707,0.084279],[0.985160,-0.159950,0.062258],[-0.047701,0.093293,0.994495]]
2025-10-25T04:13:35.292Z,1761365615.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:35.370Z,1761365615.370 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:35.622Z,1761365615.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:35.633Z,1761365615.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164203,-0.982648,0.086253],[0.985411,-0.159439,0.059534],[-0.044749,0.094770,0.994493]]
2025-10-25T04:13:35.690Z,1761365615.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:35.874Z,1761365615.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:36.039Z,1761365616.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.163951,-0.982535,0.088012],[0.985590,-0.159387,0.056649],[-0.041631,0.096031,0.994507]]
2025-10-25T04:13:36.106Z,1761365616.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:36.126Z,1761365616.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:36.377Z,1761365616.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:36.448Z,1761365616.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165021,-0.981658,0.095471],[0.985701,-0.160804,0.050353],[-0.034078,0.102415,0.994158]]
2025-10-25T04:13:36.468Z,1761365616.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:36.629Z,1761365616.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:36.859Z,1761365616.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165896,-0.981087,0.099738],[0.985691,-0.161906,0.046906],[-0.029870,0.106092,0.993908]]
2025-10-25T04:13:36.881Z,1761365616.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:36.906Z,1761365616.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:37.133Z,1761365617.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:37.315Z,1761365617.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:37.387Z,1761365617.387 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:37.637Z,1761365617.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:37.658Z,1761365617.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168022,-0.980087,0.105820],[0.985583,-0.164851,0.038096],[-0.019893,0.110696,0.993655]]
2025-10-25T04:13:37.680Z,1761365617.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:37.892Z,1761365617.892 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:38.059Z,1761365618.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168429,-0.979821,0.107626],[0.985609,-0.165815,0.032862],[-0.014353,0.111612,0.993648]]
2025-10-25T04:13:38.119Z,1761365618.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:38.142Z,1761365618.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:38.393Z,1761365618.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:38.478Z,1761365618.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168548,-0.979798,0.107648],[0.985653,-0.166545,0.027406],[-0.008924,0.110723,0.993811]]
2025-10-25T04:13:38.531Z,1761365618.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:38.645Z,1761365618.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:38.887Z,1761365618.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168525,-0.979930,0.106472],[0.985690,-0.167131,0.021945],[-0.003709,0.108647,0.994074]]
2025-10-25T04:13:38.897Z,1761365618.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:38.945Z,1761365618.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:39.150Z,1761365619.150 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:39.269Z,1761365619.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168641,-0.979969,0.105927],[0.985677,-0.167751,0.017321],[0.000795,0.107331,0.994223]]
2025-10-25T04:13:39.315Z,1761365619.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:39.402Z,1761365619.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:39.656Z,1761365619.656 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:39.671Z,1761365619.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168801,-0.979908,0.106235],[0.985639,-0.168323,0.013519],[0.004634,0.106992,0.994249]]
2025-10-25T04:13:39.696Z,1761365619.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:39.910Z,1761365619.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:40.086Z,1761365620.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168714,-0.980141,0.104208],[0.985634,-0.168605,0.009921],[0.007846,0.104385,0.994506]]
2025-10-25T04:13:40.161Z,1761365620.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:40.203Z,1761365620.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:40.415Z,1761365620.415 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:40.486Z,1761365620.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168938,-0.980225,0.103050],[0.985570,-0.169122,0.007010],[0.010556,0.102748,0.994651]]
2025-10-25T04:13:40.506Z,1761365620.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:40.665Z,1761365620.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:40.915Z,1761365620.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169253,-0.980455,0.100303],[0.985490,-0.169675,0.004370],[0.012735,0.099587,0.994947]]
2025-10-25T04:13:40.917Z,1761365620.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:40.971Z,1761365620.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:41.169Z,1761365621.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:41.298Z,1761365621.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170036,-0.980617,0.097352],[0.985334,-0.170622,0.002334],[0.014322,0.096321,0.995247]]
2025-10-25T04:13:41.342Z,1761365621.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:41.421Z,1761365621.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:41.674Z,1761365621.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:41.697Z,1761365621.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170803,-0.980611,0.096060],[0.985183,-0.171503,0.000981],[0.015512,0.094804,0.995375]]
2025-10-25T04:13:41.718Z,1761365621.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:41.928Z,1761365621.928 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:42.136Z,1761365622.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172634,-0.980097,0.098021],[0.984838,-0.173479,-0.000094],[0.017097,0.096519,0.995184]]
2025-10-25T04:13:42.177Z,1761365622.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:42.201Z,1761365622.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:42.429Z,1761365622.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:42.613Z,1761365622.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173388,-0.979625,0.101351],[0.984672,-0.174409,-0.001232],[0.018883,0.099584,0.994850]]
2025-10-25T04:13:42.633Z,1761365622.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:42.681Z,1761365622.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:42.936Z,1761365622.936 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:43.034Z,1761365623.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174411,-0.979138,0.104260],[0.984454,-0.175625,-0.002508],[0.020766,0.102201,0.994547]]
2025-10-25T04:13:43.088Z,1761365623.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:43.185Z,1761365623.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:43.437Z,1761365623.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:43.439Z,1761365623.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175204,-0.978925,0.104924],[0.984275,-0.176598,-0.004075],[0.022518,0.102560,0.994472]]
2025-10-25T04:13:43.459Z,1761365623.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:43.689Z,1761365623.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:43.841Z,1761365623.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175796,-0.978669,0.106316],[0.984129,-0.177369,-0.005450],[0.024191,0.103671,0.994317]]
2025-10-25T04:13:43.863Z,1761365623.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:43.953Z,1761365623.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:44.201Z,1761365624.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:44.317Z,1761365624.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:44.453Z,1761365624.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:44.651Z,1761365624.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177744,-0.978249,0.106942],[0.983717,-0.179564,-0.007561],[0.026599,0.103857,0.994237]]
2025-10-25T04:13:44.670Z,1761365624.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:44.706Z,1761365624.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:44.960Z,1761365624.960 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:45.076Z,1761365625.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178960,-0.977995,0.107235],[0.983462,-0.180906,-0.008629],[0.027839,0.103918,0.994196]]
2025-10-25T04:13:45.147Z,1761365625.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:45.215Z,1761365625.215 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:45.466Z,1761365625.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:45.483Z,1761365625.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180101,-0.977704,0.107971],[0.983211,-0.182205,-0.009864],[0.029317,0.104382,0.994105]]
2025-10-25T04:13:45.503Z,1761365625.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:45.505Z,1761365625.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1
2025-10-25T04:13:45.505Z,1761365625.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-25T04:13:45.506Z,1761365625.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1
2025-10-25T04:13:45.507Z,1761365625.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 14.400000 m  5.001137 min ago.
2025-10-25T04:13:45.508Z,1761365625.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped
2025-10-25T04:13:45.509Z,1761365625.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1
2025-10-25T04:13:45.718Z,1761365625.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:45.907Z,1761365625.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180609,-0.977430,0.109596],[0.983055,-0.182947,-0.011582],[0.031371,0.105647,0.993909]]
2025-10-25T04:13:45.966Z,1761365625.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m.
2025-10-25T04:13:45.972Z,1761365625.972 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:45.986Z,1761365625.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped
2025-10-25T04:13:45.987Z,1761365625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-25T04:13:45.987Z,1761365625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped
2025-10-25T04:13:45.987Z,1761365625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange
2025-10-25T04:13:46.222Z,1761365626.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:46.318Z,1761365626.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180409,-0.977319,0.110909],[0.982892,-0.183384,-0.017145],[0.037095,0.105919,0.993683]]
2025-10-25T04:13:46.363Z,1761365626.363 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-10-25T04:13:46.363Z,1761365626.363 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-10-25T04:13:46.382Z,1761365626.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-10-25T04:13:46.385Z,1761365626.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-10-25T04:13:46.385Z,1761365626.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-10-25T04:13:46.385Z,1761365626.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-10-25T04:13:46.385Z,1761365626.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-10-25T04:13:46.386Z,1761365626.386 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-10-25T04:13:46.387Z,1761365626.387 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-10-25T04:13:46.389Z,1761365626.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-10-25T04:13:46.389Z,1761365626.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-10-25T04:13:46.389Z,1761365626.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-10-25T04:13:46.389Z,1761365626.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-10-25T04:13:46.390Z,1761365626.390 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-10-25T04:13:46.474Z,1761365626.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:46.714Z,1761365626.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179361,-0.977671,0.109494],[0.982961,-0.182646,-0.020667],[0.040204,0.103922,0.993773]]
2025-10-25T04:13:46.726Z,1761365626.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:46.749Z,1761365626.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-10-25T04:13:46.749Z,1761365626.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T04:13:46.749Z,1761365626.749 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-10-25T04:13:46.751Z,1761365626.751 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 14.400000 m (mode  0.000000 count ).
2025-10-25T04:13:46.751Z,1761365626.751 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-10-25T04:13:46.751Z,1761365626.751 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-10-25T04:13:46.772Z,1761365626.772 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-10-25T04:13:46.772Z,1761365626.772 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-10-25T04:13:46.979Z,1761365626.979 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:47.117Z,1761365627.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177907,-0.978081,0.108202],[0.983084,-0.181518,-0.024415],[0.043520,0.102029,0.993829]]
2025-10-25T04:13:47.179Z,1761365627.179 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-10-25T04:13:47.179Z,1761365627.179 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-10-25T04:13:47.179Z,1761365627.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:47.229Z,1761365627.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:47.482Z,1761365627.482 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:47.522Z,1761365627.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176481,-0.978418,0.107486],[0.983202,-0.180396,-0.027782],[0.046572,0.100777,0.993818]]
2025-10-25T04:13:47.548Z,1761365627.548 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-10-25T04:13:47.548Z,1761365627.548 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-10-25T04:13:47.734Z,1761365627.734 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:47.923Z,1761365627.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175798,-0.978544,0.107460],[0.983175,-0.180027,-0.030932],[0.049614,0.100214,0.993728]]
2025-10-25T04:13:47.970Z,1761365627.970 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-10-25T04:13:47.971Z,1761365627.971 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T04:13:47.971Z,1761365627.971 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-10-25T04:13:47.971Z,1761365627.971 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-10-25T04:13:47.989Z,1761365627.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:48.237Z,1761365628.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:48.327Z,1761365628.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176077,-0.978270,0.109477],[0.982980,-0.180657,-0.033356],[0.052409,0.101741,0.993429]]
2025-10-25T04:13:48.489Z,1761365628.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:48.730Z,1761365628.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177252,-0.977633,0.113204],[0.982688,-0.182111,-0.034043],[0.053897,0.105210,0.992988]]
2025-10-25T04:13:48.742Z,1761365628.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:48.996Z,1761365628.996 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:49.133Z,1761365629.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180572,-0.976383,0.118619],[0.982106,-0.185549,-0.032250],[0.053497,0.110673,0.992416]]
2025-10-25T04:13:49.185Z,1761365629.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:49.245Z,1761365629.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:49.497Z,1761365629.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:49.537Z,1761365629.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185686,-0.974451,0.126357],[0.981246,-0.190661,-0.028382],[0.051748,0.118717,0.991579]]
2025-10-25T04:13:49.751Z,1761365629.751 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:49.940Z,1761365629.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194278,-0.971369,0.136739],[0.979718,-0.199113,-0.022487],[0.049070,0.129597,0.990352]]
2025-10-25T04:13:50.005Z,1761365630.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:50.257Z,1761365630.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:50.345Z,1761365630.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205559,-0.966854,0.151456],[0.977562,-0.210134,-0.014678],[0.046017,0.145041,0.988355]]
2025-10-25T04:13:50.505Z,1761365630.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:50.749Z,1761365630.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219576,-0.961564,0.164869],[0.974646,-0.223661,-0.006406],[0.043035,0.159283,0.986295]]
2025-10-25T04:13:50.759Z,1761365630.759 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:51.011Z,1761365631.011 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:51.152Z,1761365631.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236180,-0.954836,0.180300],[0.970860,-0.239630,0.002718],[0.040610,0.175688,0.983608]]
2025-10-25T04:13:51.227Z,1761365631.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:51.261Z,1761365631.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:51.513Z,1761365631.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:51.560Z,1761365631.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255836,-0.946374,0.197291],[0.965940,-0.258446,0.012854],[0.038824,0.193860,0.980261]]
2025-10-25T04:13:51.765Z,1761365631.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:51.961Z,1761365631.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279064,-0.934785,0.219775],[0.959524,-0.280479,0.025394],[0.037904,0.217966,0.975220]]
2025-10-25T04:13:52.037Z,1761365632.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:52.286Z,1761365632.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:52.366Z,1761365632.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304661,-0.920724,0.243823],[0.951715,-0.304407,0.039683],[0.037685,0.244139,0.969008]]
2025-10-25T04:13:52.537Z,1761365632.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:52.787Z,1761365632.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332154,-0.905470,0.264193],[0.942457,-0.329903,0.054218],[0.038066,0.266999,0.962945]]
2025-10-25T04:13:52.789Z,1761365632.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:53.044Z,1761365633.044 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:53.186Z,1761365633.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360711,-0.889958,0.279039],[0.931863,-0.356391,0.067950],[0.038974,0.284536,0.957873]]
2025-10-25T04:13:53.247Z,1761365633.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:53.294Z,1761365633.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:53.545Z,1761365633.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:53.577Z,1761365633.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390016,-0.873633,0.290954],[0.919924,-0.383525,0.081542],[0.040350,0.299458,0.953256]]
2025-10-25T04:13:53.798Z,1761365633.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:53.985Z,1761365633.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419507,-0.857128,0.298906],[0.906790,-0.410847,0.094533],[0.041778,0.310703,0.949589]]
2025-10-25T04:13:54.051Z,1761365634.051 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:54.302Z,1761365634.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:54.387Z,1761365634.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448589,-0.840789,0.303055],[0.892704,-0.437832,0.106690],[0.042983,0.318398,0.946982]]
2025-10-25T04:13:54.553Z,1761365634.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:54.805Z,1761365634.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:54.815Z,1761365634.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476624,-0.825529,0.302211],[0.878039,-0.463977,0.117362],[0.043333,0.321291,0.945989]]
2025-10-25T04:13:55.061Z,1761365635.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:55.209Z,1761365635.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504103,-0.810635,0.297911],[0.862584,-0.489664,0.127192],[0.042770,0.321091,0.946082]]
2025-10-25T04:13:55.260Z,1761365635.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:55.310Z,1761365635.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:55.561Z,1761365635.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:55.613Z,1761365635.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530136,-0.795758,0.292789],[0.846898,-0.513823,0.136932],[0.041477,0.320555,0.946321]]
2025-10-25T04:13:55.813Z,1761365635.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:56.020Z,1761365636.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555386,-0.780825,0.286111],[0.830652,-0.537250,0.146217],[0.039544,0.318865,0.946975]]
2025-10-25T04:13:56.067Z,1761365636.067 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:56.317Z,1761365636.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:56.573Z,1761365636.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:56.821Z,1761365636.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:56.826Z,1761365636.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601072,-0.751863,0.270950],[0.798480,-0.579307,0.163809],[0.033801,0.314810,0.948553]]
2025-10-25T04:13:57.073Z,1761365637.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:57.229Z,1761365637.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622914,-0.737065,0.262132],[0.781698,-0.599494,0.171919],[0.030431,0.311999,0.949595]]
2025-10-25T04:13:57.289Z,1761365637.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:57.325Z,1761365637.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:57.577Z,1761365637.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:57.646Z,1761365637.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643625,-0.721939,0.254067],[0.764863,-0.618470,0.180221],[0.027024,0.310321,0.950248]]
2025-10-25T04:13:57.838Z,1761365637.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:58.085Z,1761365638.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:58.337Z,1761365638.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:58.589Z,1761365638.589 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:58.842Z,1761365638.842 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:58.846Z,1761365638.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701481,-0.673642,0.232659],[0.712466,-0.670987,0.205350],[0.017779,0.309811,0.950632]]
2025-10-25T04:13:59.096Z,1761365639.096 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:59.266Z,1761365639.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719593,-0.657277,0.223991],[0.694237,-0.687864,0.211843],[0.014836,0.307944,0.951289]]
2025-10-25T04:13:59.322Z,1761365639.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:13:59.345Z,1761365639.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:59.357Z,1761365639.357 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:13:59.597Z,1761365639.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:13:59.653Z,1761365639.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737532,-0.640448,0.214183],[0.675206,-0.704976,0.217036],[0.011993,0.304688,0.952376]]
2025-10-25T04:13:59.850Z,1761365639.850 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:00.055Z,1761365640.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754797,-0.623163,0.204818],[0.655894,-0.721389,0.222265],[0.009246,0.302104,0.953230]]
2025-10-25T04:14:00.101Z,1761365640.101 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:00.353Z,1761365640.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:00.361Z,1761365640.361 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:14:00.605Z,1761365640.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:00.858Z,1761365640.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:01.109Z,1761365641.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:01.276Z,1761365641.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805089,-0.564506,0.182109],[0.593148,-0.767558,0.242962],[0.002625,0.303624,0.952788]]
2025-10-25T04:14:01.351Z,1761365641.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:01.361Z,1761365641.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:01.613Z,1761365641.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:01.674Z,1761365641.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821125,-0.542502,0.177327],[0.570747,-0.781144,0.253106],[0.001207,0.309041,0.951048]]
2025-10-25T04:14:01.866Z,1761365641.866 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:02.079Z,1761365642.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836922,-0.519658,0.171804],[0.547322,-0.794636,0.262665],[0.000026,0.313862,0.949469]]
2025-10-25T04:14:02.117Z,1761365642.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:02.369Z,1761365642.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:02.482Z,1761365642.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852330,-0.496371,0.164772],[0.523004,-0.808342,0.270277],[-0.000966,0.316542,0.948578]]
2025-10-25T04:14:02.621Z,1761365642.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:02.877Z,1761365642.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:02.895Z,1761365642.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880293,-0.450655,0.148303],[0.474422,-0.834347,0.280693],[-0.002760,0.317451,0.948271]]
2025-10-25T04:14:03.130Z,1761365643.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:03.311Z,1761365643.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892999,-0.427685,0.140135],[0.450044,-0.846146,0.285477],[-0.003519,0.317998,0.948085]]
2025-10-25T04:14:03.363Z,1761365643.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:03.381Z,1761365643.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:03.633Z,1761365643.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:03.694Z,1761365643.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905137,-0.404462,0.130912],[0.425099,-0.858022,0.288252],[-0.004262,0.316558,0.948563]]
2025-10-25T04:14:03.886Z,1761365643.886 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:04.095Z,1761365644.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916271,-0.381486,0.122132],[0.400530,-0.868823,0.291073],[-0.004929,0.315619,0.948873]]
2025-10-25T04:14:04.137Z,1761365644.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:04.389Z,1761365644.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:04.501Z,1761365644.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926926,-0.357846,0.112935],[0.375202,-0.879374,0.293128],[-0.005583,0.314081,0.949380]]
2025-10-25T04:14:04.642Z,1761365644.642 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:04.897Z,1761365644.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:04.911Z,1761365644.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936654,-0.334492,0.103893],[0.350201,-0.889154,0.294556],[-0.006150,0.312281,0.949970]]
2025-10-25T04:14:05.151Z,1761365645.151 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:05.391Z,1761365645.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:05.401Z,1761365645.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:05.653Z,1761365645.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:05.713Z,1761365645.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954492,-0.285585,0.085942],[0.298153,-0.906968,0.297511],[-0.007018,0.309596,0.950842]]
2025-10-25T04:14:05.906Z,1761365645.906 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:06.118Z,1761365646.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962257,-0.261347,0.075892],[0.272021,-0.915316,0.296986],[-0.008151,0.306421,0.951861]]
2025-10-25T04:14:06.159Z,1761365646.159 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:06.409Z,1761365646.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:06.528Z,1761365646.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969217,-0.237224,0.065897],[0.246013,-0.922507,0.297419],[-0.009764,0.304476,0.952470]]
2025-10-25T04:14:06.662Z,1761365646.662 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:06.913Z,1761365646.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:07.166Z,1761365647.166 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:07.332Z,1761365647.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980887,-0.189028,0.046134],[0.194086,-0.933692,0.300915],[-0.013806,0.304118,0.952534]]
2025-10-25T04:14:07.417Z,1761365647.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:07.669Z,1761365647.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:07.734Z,1761365647.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985598,-0.165148,0.036369],[0.168348,-0.937903,0.303309],[-0.015980,0.305063,0.952198]]
2025-10-25T04:14:07.811Z,1761365647.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:07.921Z,1761365647.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:08.137Z,1761365648.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989690,-0.140763,0.026465],[0.142065,-0.941225,0.306452],[-0.018228,0.307052,0.951518]]
2025-10-25T04:14:08.173Z,1761365648.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:08.426Z,1761365648.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:08.543Z,1761365648.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993033,-0.116635,0.016805],[0.116109,-0.944102,0.308529],[-0.020119,0.308330,0.951067]]
2025-10-25T04:14:08.677Z,1761365648.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:08.930Z,1761365648.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:09.181Z,1761365649.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:09.354Z,1761365649.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997743,-0.067070,-0.003364],[0.062812,-0.949790,0.306520],[-0.023754,0.305616,0.951858]]
2025-10-25T04:14:09.433Z,1761365649.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:09.686Z,1761365649.686 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:09.753Z,1761365649.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999045,-0.041483,-0.013697],[0.035391,-0.952352,0.302940],[-0.025611,0.302166,0.952911]]
2025-10-25T04:14:09.938Z,1761365649.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:10.159Z,1761365650.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999605,-0.015269,-0.023587],[0.007477,-0.953734,0.300558],[-0.027085,0.300263,0.953472]]
2025-10-25T04:14:10.178Z,1761365650.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:10.189Z,1761365650.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:10.442Z,1761365650.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:10.562Z,1761365650.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999397,0.010141,-0.033200],[-0.019752,-0.952588,0.303620],[-0.028547,0.304093,0.952215]]
2025-10-25T04:14:10.693Z,1761365650.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:10.945Z,1761365650.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:10.965Z,1761365650.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998421,0.035819,-0.043280],[-0.047379,-0.950839,0.306040],[-0.030190,0.307608,0.951034]]
2025-10-25T04:14:11.197Z,1761365651.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:11.378Z,1761365651.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996709,0.061112,-0.053264],[-0.074582,-0.948760,0.307071],[-0.031769,0.310033,0.950195]]
2025-10-25T04:14:11.449Z,1761365651.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:11.701Z,1761365651.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:11.774Z,1761365651.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994274,0.086407,-0.062867],[-0.101561,-0.947071,0.304536],[-0.033225,0.309177,0.950424]]
2025-10-25T04:14:11.954Z,1761365651.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:12.179Z,1761365652.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991104,0.111861,-0.072117],[-0.128485,-0.945501,0.299198],[-0.034718,0.305802,0.951462]]
2025-10-25T04:14:12.199Z,1761365652.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:12.205Z,1761365652.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:12.458Z,1761365652.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:12.582Z,1761365652.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987127,0.137719,-0.081329],[-0.155804,-0.942894,0.294407],[-0.036139,0.303289,0.952213]]
2025-10-25T04:14:12.710Z,1761365652.710 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:12.961Z,1761365652.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:12.985Z,1761365652.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982435,0.163416,-0.090095],[-0.182826,-0.939598,0.289360],[-0.037367,0.300749,0.952971]]
2025-10-25T04:14:13.213Z,1761365653.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:13.417Z,1761365653.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976826,0.189595,-0.099324],[-0.210519,-0.934842,0.285923],[-0.038643,0.300206,0.953091]]
2025-10-25T04:14:13.466Z,1761365653.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:13.717Z,1761365653.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:13.793Z,1761365653.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970450,0.215230,-0.109100],[-0.237942,-0.928735,0.284315],[-0.040132,0.301874,0.952503]]
2025-10-25T04:14:13.972Z,1761365653.972 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:14.199Z,1761365654.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963180,0.240931,-0.119314],[-0.265618,-0.921408,0.283646],[-0.041597,0.304894,0.951477]]
2025-10-25T04:14:14.216Z,1761365654.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:14.221Z,1761365654.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:14.474Z,1761365654.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:14.604Z,1761365654.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955184,0.266414,-0.129023],[-0.292910,-0.913604,0.282013],[-0.042744,0.307166,0.950696]]
2025-10-25T04:14:14.729Z,1761365654.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:14.977Z,1761365654.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:15.006Z,1761365655.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946285,0.292453,-0.137898],[-0.320357,-0.905768,0.277408],[-0.043775,0.306683,0.950805]]
2025-10-25T04:14:15.229Z,1761365655.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:15.439Z,1761365655.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936360,0.318653,-0.147278],[-0.348143,-0.896754,0.273183],[-0.045022,0.307071,0.950621]]
2025-10-25T04:14:15.481Z,1761365655.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:15.734Z,1761365655.734 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:15.815Z,1761365655.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925956,0.343906,-0.155994],[-0.374807,-0.887379,0.268473],[-0.046096,0.307062,0.950573]]
2025-10-25T04:14:15.986Z,1761365655.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:16.221Z,1761365656.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914527,0.369811,-0.163951],[-0.401752,-0.877692,0.261251],[-0.047284,0.304789,0.951246]]
2025-10-25T04:14:16.237Z,1761365656.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:16.239Z,1761365656.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:16.489Z,1761365656.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:16.621Z,1761365656.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902127,0.395577,-0.172297],[-0.428686,-0.867040,0.253909],[-0.048948,0.302920,0.951758]]
2025-10-25T04:14:16.743Z,1761365656.743 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:16.993Z,1761365656.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:17.024Z,1761365657.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888732,0.421113,-0.181163],[-0.455609,-0.855127,0.247342],[-0.050758,0.302360,0.951841]]
2025-10-25T04:14:17.245Z,1761365657.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:17.461Z,1761365657.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874653,0.445814,-0.190349],[-0.481886,-0.842268,0.241598],[-0.052617,0.303041,0.951524]]
2025-10-25T04:14:17.497Z,1761365657.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:17.749Z,1761365657.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:17.832Z,1761365657.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859468,0.470515,-0.199826],[-0.508222,-0.828548,0.234986],[-0.055001,0.303519,0.951237]]
2025-10-25T04:14:18.002Z,1761365658.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:18.236Z,1761365658.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843854,0.494105,-0.209212],[-0.533480,-0.814387,0.228412],[-0.057520,0.304357,0.950820]]
2025-10-25T04:14:18.262Z,1761365658.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:18.266Z,1761365658.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:18.513Z,1761365658.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:18.641Z,1761365658.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827856,0.516987,-0.217667],[-0.557748,-0.799987,0.221221],[-0.059763,0.304543,0.950622]]
2025-10-25T04:14:18.766Z,1761365658.766 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:19.018Z,1761365659.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:19.056Z,1761365659.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810522,0.540619,-0.225354],[-0.582405,-0.784710,0.212212],[-0.062111,0.303250,0.950885]]
2025-10-25T04:14:19.271Z,1761365659.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:19.505Z,1761365659.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774136,0.585164,-0.241448],[-0.629517,-0.751724,0.196519],[-0.066506,0.304127,0.950307]]
2025-10-25T04:14:19.521Z,1761365659.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:19.777Z,1761365659.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:20.037Z,1761365660.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:20.265Z,1761365660.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736390,0.626139,-0.256280],[-0.672824,-0.717494,0.180308],[-0.070981,0.305208,0.949637]]
2025-10-25T04:14:20.282Z,1761365660.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:20.295Z,1761365660.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:20.533Z,1761365660.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:20.669Z,1761365660.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716877,0.646088,-0.262025],[-0.693356,-0.700069,0.170764],[-0.073107,0.304093,0.949833]]
2025-10-25T04:14:20.785Z,1761365660.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:21.037Z,1761365661.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:21.065Z,1761365661.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696845,0.665225,-0.268109],[-0.713276,-0.681928,0.161903],[-0.075129,0.304057,0.949687]]
2025-10-25T04:14:21.290Z,1761365661.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:21.516Z,1761365661.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676088,0.684482,-0.272745],[-0.732821,-0.663171,0.152240],[-0.076672,0.302801,0.949965]]
2025-10-25T04:14:21.542Z,1761365661.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:21.793Z,1761365661.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:21.878Z,1761365661.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654789,0.703365,-0.276638],[-0.751796,-0.643794,0.142589],[-0.077806,0.301342,0.950337]]
2025-10-25T04:14:22.046Z,1761365662.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:22.282Z,1761365662.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632358,0.721727,-0.281483],[-0.770685,-0.622938,0.134139],[-0.078535,0.301759,0.950144]]
2025-10-25T04:14:22.298Z,1761365662.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:22.335Z,1761365662.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:22.551Z,1761365662.551 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:22.681Z,1761365662.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609619,0.739416,-0.285706],[-0.788775,-0.601631,0.125992],[-0.078729,0.302165,0.949999]]
2025-10-25T04:14:22.801Z,1761365662.801 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:23.053Z,1761365663.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:23.086Z,1761365663.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585619,0.757012,-0.289800],[-0.806802,-0.578869,0.118247],[-0.078241,0.303059,0.949755]]
2025-10-25T04:14:23.305Z,1761365663.305 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:23.534Z,1761365663.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561225,0.773551,-0.294358],[-0.824052,-0.555430,0.111515],[-0.077233,0.305151,0.949167]]
2025-10-25T04:14:23.559Z,1761365663.559 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:23.809Z,1761365663.809 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:23.893Z,1761365663.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535925,0.790134,-0.297444],[-0.840801,-0.531387,0.103347],[-0.076400,0.305477,0.949129]]
2025-10-25T04:14:24.063Z,1761365664.063 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:24.305Z,1761365664.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509618,0.806725,-0.299139],[-0.857028,-0.506706,0.093550],[-0.076106,0.304045,0.949613]]
2025-10-25T04:14:24.313Z,1761365664.313 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:24.353Z,1761365664.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:24.568Z,1761365664.568 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:24.718Z,1761365664.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483319,0.821628,-0.302207],[-0.872085,-0.482079,0.084068],[-0.076615,0.304182,0.949528]]
2025-10-25T04:14:24.817Z,1761365664.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:25.069Z,1761365665.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:25.109Z,1761365665.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456339,0.835776,-0.305342],[-0.886416,-0.456920,0.074093],[-0.077592,0.304471,0.949356]]
2025-10-25T04:14:25.321Z,1761365665.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:25.573Z,1761365665.573 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:25.827Z,1761365665.827 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:25.914Z,1761365665.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401576,0.863024,-0.306474],[-0.912277,-0.406387,0.050991],[-0.080541,0.300066,0.950512]]
2025-10-25T04:14:26.077Z,1761365666.077 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:26.326Z,1761365666.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374218,0.875423,-0.305932],[-0.923689,-0.381126,0.039272],[-0.082219,0.297283,0.951243]]
2025-10-25T04:14:26.329Z,1761365666.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:26.584Z,1761365666.584 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:26.784Z,1761365666.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:26.834Z,1761365666.834 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:27.085Z,1761365667.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:27.126Z,1761365667.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319163,0.896617,-0.306942],[-0.943900,-0.329721,0.018325],[-0.084775,0.295572,0.951552]]
2025-10-25T04:14:27.345Z,1761365667.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:27.563Z,1761365667.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290691,0.905978,-0.307739],[-0.952916,-0.303137,0.007696],[-0.086314,0.295487,0.951440]]
2025-10-25T04:14:27.605Z,1761365667.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:27.864Z,1761365667.864 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:27.933Z,1761365667.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262259,0.913980,-0.309614],[-0.960953,-0.276698,-0.002836],[-0.088261,0.296781,0.950858]]
2025-10-25T04:14:28.117Z,1761365668.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:28.349Z,1761365668.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233347,0.921497,-0.310472],[-0.968155,-0.249950,-0.014209],[-0.090696,0.297269,0.950476]]
2025-10-25T04:14:28.369Z,1761365668.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:28.623Z,1761365668.623 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:28.789Z,1761365668.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:28.874Z,1761365668.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:29.125Z,1761365669.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:29.145Z,1761365669.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174025,0.934627,-0.310142],[-0.980017,-0.195190,-0.038314],[-0.096346,0.297277,0.949918]]
2025-10-25T04:14:29.377Z,1761365669.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:29.586Z,1761365669.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.144858,0.940019,-0.308836],[-0.984461,-0.168238,-0.050320],[-0.099260,0.296748,0.949783]]
2025-10-25T04:14:29.630Z,1761365669.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:29.881Z,1761365669.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:29.953Z,1761365669.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116257,0.945114,-0.305358],[-0.987917,-0.141761,-0.062640],[-0.102490,0.294386,0.950175]]
2025-10-25T04:14:30.133Z,1761365670.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:30.362Z,1761365670.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087734,0.949626,-0.300855],[-0.990508,-0.115245,-0.074914],[-0.105812,0.291427,0.950723]]
2025-10-25T04:14:30.385Z,1761365670.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:30.483Z,1761365670.483 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:14:30.639Z,1761365670.639 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:30.761Z,1761365670.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059372,0.952957,-0.297234],[-0.992233,-0.088944,-0.086965],[-0.109311,0.289762,0.950836]]
2025-10-25T04:14:30.816Z,1761365670.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:30.889Z,1761365670.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:31.142Z,1761365671.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:31.165Z,1761365671.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031500,0.955417,-0.293573],[-0.993140,-0.063012,-0.098506],[-0.112612,0.288456,0.950848]]
2025-10-25T04:14:31.393Z,1761365671.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:31.485Z,1761365671.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:14:31.567Z,1761365671.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004932,0.957256,-0.289200],[-0.993275,-0.038144,-0.109319],[-0.115678,0.286716,0.951006]]
2025-10-25T04:14:31.648Z,1761365671.648 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:31.897Z,1761365671.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:31.975Z,1761365671.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021167,0.958555,-0.284119],[-0.992708,-0.013582,-0.119779],[-0.118674,0.284582,0.951278]]
2025-10-25T04:14:32.149Z,1761365672.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:32.384Z,1761365672.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045782,0.959991,-0.276263],[-0.991496,0.009943,-0.129756],[-0.121818,0.279855,0.952282]]
2025-10-25T04:14:32.402Z,1761365672.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:32.656Z,1761365672.656 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:32.780Z,1761365672.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069327,0.961133,-0.267240],[-0.989712,0.032659,-0.139294],[-0.125153,0.274147,0.953509]]
2025-10-25T04:14:32.860Z,1761365672.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:32.905Z,1761365672.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:33.158Z,1761365673.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:33.185Z,1761365673.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091537,0.962214,-0.256447],[-0.987427,0.054377,-0.148426],[-0.128873,0.266809,0.955094]]
2025-10-25T04:14:33.410Z,1761365673.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:33.587Z,1761365673.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111111,0.962876,-0.246017],[-0.984910,0.073637,-0.156618],[-0.132687,0.259707,0.956528]]
2025-10-25T04:14:33.665Z,1761365673.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:33.913Z,1761365673.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:33.996Z,1761365673.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129037,0.963420,-0.234885],[-0.982191,0.091549,-0.164074],[-0.136568,0.251873,0.958076]]
2025-10-25T04:14:34.166Z,1761365674.166 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:34.398Z,1761365674.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145983,0.963429,-0.224710],[-0.979216,0.108391,-0.171429],[-0.140804,0.245065,0.959228]]
2025-10-25T04:14:34.417Z,1761365674.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:34.671Z,1761365674.671 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:34.801Z,1761365674.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161735,0.963150,-0.214904],[-0.976081,0.124072,-0.178529],[-0.145287,0.238638,0.960179]]
2025-10-25T04:14:34.873Z,1761365674.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:34.921Z,1761365674.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:35.174Z,1761365675.174 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:35.209Z,1761365675.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175374,0.962772,-0.205702],[-0.973027,0.137696,-0.185091],[-0.149876,0.232614,0.960952]]
2025-10-25T04:14:35.426Z,1761365675.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:35.607Z,1761365675.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187469,0.962301,-0.197057],[-0.970071,0.149857,-0.191065],[-0.154331,0.226978,0.961594]]
2025-10-25T04:14:35.679Z,1761365675.679 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:35.929Z,1761365675.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:36.013Z,1761365676.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198130,0.962047,-0.187645],[-0.967255,0.160921,-0.196271],[-0.158626,0.220388,0.962428]]
2025-10-25T04:14:36.181Z,1761365676.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:36.417Z,1761365676.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207977,0.961689,-0.178607],[-0.964485,0.171229,-0.201120],[-0.162832,0.214092,0.963146]]
2025-10-25T04:14:36.434Z,1761365676.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:36.688Z,1761365676.688 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:36.821Z,1761365676.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216927,0.961436,-0.169067],[-0.961786,0.180858,-0.205566],[-0.167062,0.207199,0.963929]]
2025-10-25T04:14:36.937Z,1761365676.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:37.191Z,1761365677.191 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:37.260Z,1761365677.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:37.442Z,1761365677.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:37.635Z,1761365677.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239837,0.960120,-0.143690],[-0.954102,0.205768,-0.217600],[-0.179355,0.189284,0.965403]]
2025-10-25T04:14:37.697Z,1761365677.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:37.945Z,1761365677.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:38.038Z,1761365678.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247122,0.959130,-0.137843],[-0.951586,0.213380,-0.221252],[-0.182796,0.185845,0.965426]]
2025-10-25T04:14:38.197Z,1761365678.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:38.438Z,1761365678.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254223,0.958036,-0.132429],[-0.949130,0.220831,-0.224467],[-0.185803,0.182757,0.965441]]
2025-10-25T04:14:38.449Z,1761365678.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:38.702Z,1761365678.702 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:38.839Z,1761365678.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261534,0.956824,-0.126841],[-0.946612,0.228612,-0.227292],[-0.188481,0.179514,0.965531]]
2025-10-25T04:14:38.959Z,1761365678.959 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:39.205Z,1761365679.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:39.246Z,1761365679.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269234,0.955419,-0.121195],[-0.943980,0.236863,-0.229778],[-0.190827,0.176269,0.965668]]
2025-10-25T04:14:39.263Z,1761365679.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:39.458Z,1761365679.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:39.652Z,1761365679.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276356,0.953956,-0.116600],[-0.941445,0.244333,-0.232344],[-0.193156,0.173982,0.965619]]
2025-10-25T04:14:39.712Z,1761365679.712 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:39.961Z,1761365679.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:40.059Z,1761365680.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283089,0.952606,-0.111367],[-0.938990,0.251630,-0.234479],[-0.195343,0.170951,0.965721]]
2025-10-25T04:14:40.213Z,1761365680.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:40.457Z,1761365680.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289232,0.951285,-0.106780],[-0.936615,0.258187,-0.236839],[-0.197732,0.168513,0.965663]]
2025-10-25T04:14:40.465Z,1761365680.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:40.717Z,1761365680.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:40.865Z,1761365680.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295794,0.949892,-0.101051],[-0.933986,0.265389,-0.239246],[-0.200440,0.165148,0.965686]]
2025-10-25T04:14:40.970Z,1761365680.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:41.221Z,1761365681.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:41.267Z,1761365681.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302188,0.948464,-0.095385],[-0.931326,0.272420,-0.241701],[-0.203260,0.161874,0.965651]]
2025-10-25T04:14:41.300Z,1761365681.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:41.474Z,1761365681.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:41.727Z,1761365681.727 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:41.977Z,1761365681.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:42.072Z,1761365682.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314468,0.945448,-0.085071],[-0.925903,0.285733,-0.247102],[-0.209315,0.156474,0.965248]]
2025-10-25T04:14:42.229Z,1761365682.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:42.477Z,1761365682.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320922,0.943659,-0.080723],[-0.922980,0.292494,-0.250110],[-0.212408,0.154771,0.964846]]
2025-10-25T04:14:42.481Z,1761365682.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:42.735Z,1761365682.735 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:42.931Z,1761365682.931 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,   00,       9B,  +522,    -9,    +6,A
2025-10-25T04:14:42.985Z,1761365682.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:43.237Z,1761365683.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:43.302Z,1761365683.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334041,0.939787,-0.072228],[-0.916748,0.306128,-0.256632],[-0.219068,0.151940,0.963807]]
2025-10-25T04:14:43.321Z,1761365683.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:43.489Z,1761365683.489 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:43.692Z,1761365683.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339247,0.938250,-0.067807],[-0.914043,0.311740,-0.259509],[-0.222346,0.150016,0.963357]]
2025-10-25T04:14:43.742Z,1761365683.742 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:43.993Z,1761365683.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:44.096Z,1761365684.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344341,0.936694,-0.063511],[-0.911339,0.317232,-0.262345],[-0.225590,0.148216,0.962882]]
2025-10-25T04:14:44.245Z,1761365684.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:44.497Z,1761365684.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:44.505Z,1761365684.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349383,0.935205,-0.057655],[-0.908672,0.323174,-0.264336],[-0.228575,0.144744,0.962706]]
2025-10-25T04:14:44.749Z,1761365684.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:44.908Z,1761365684.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354228,0.933668,-0.052786],[-0.906134,0.328732,-0.266188],[-0.231179,0.142122,0.962475]]
2025-10-25T04:14:45.002Z,1761365685.002 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:45.253Z,1761365685.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:45.313Z,1761365685.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359013,0.932097,-0.048013],[-0.903681,0.334284,-0.267611],[-0.233389,0.139464,0.962330]]
2025-10-25T04:14:45.330Z,1761365685.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:45.505Z,1761365685.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:45.714Z,1761365685.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363241,0.930606,-0.045033],[-0.901557,0.338885,-0.268983],[-0.235056,0.138305,0.962092]]
2025-10-25T04:14:45.773Z,1761365685.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:46.026Z,1761365686.026 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:46.132Z,1761365686.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367830,0.928905,-0.042849],[-0.899314,0.343637,-0.270458],[-0.236505,0.138017,0.961778]]
2025-10-25T04:14:46.283Z,1761365686.283 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:46.520Z,1761365686.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372070,0.927317,-0.040585],[-0.897176,0.348078,-0.271878],[-0.237991,0.137569,0.961476]]
2025-10-25T04:14:46.534Z,1761365686.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:46.786Z,1761365686.786 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:47.037Z,1761365687.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:47.290Z,1761365687.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:47.331Z,1761365687.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378891,0.924799,-0.034469],[-0.893593,0.355911,-0.273531],[-0.240693,0.134440,0.961245]]
2025-10-25T04:14:47.350Z,1761365687.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:47.542Z,1761365687.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:47.733Z,1761365687.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381239,0.923949,-0.031231],[-0.892248,0.358896,-0.274019],[-0.241971,0.132333,0.961217]]
2025-10-25T04:14:47.798Z,1761365687.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:48.049Z,1761365688.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:48.302Z,1761365688.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:48.539Z,1761365688.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385038,0.922578,-0.024393],[-0.890180,0.364282,-0.273638],[-0.243567,0.127075,0.961523]]
2025-10-25T04:14:48.553Z,1761365688.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:48.805Z,1761365688.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:48.950Z,1761365688.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386573,0.922005,-0.021633],[-0.889419,0.366502,-0.273149],[-0.243916,0.124833,0.961728]]
2025-10-25T04:14:49.058Z,1761365689.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:49.309Z,1761365689.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:49.350Z,1761365689.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387942,0.921507,-0.018023],[-0.888844,0.368876,-0.271820],[-0.243836,0.121470,0.962179]]
2025-10-25T04:14:49.379Z,1761365689.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:49.562Z,1761365689.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:49.753Z,1761365689.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389366,0.920961,-0.015019],[-0.888289,0.371141,-0.270550],[-0.243592,0.118684,0.962589]]
2025-10-25T04:14:49.814Z,1761365689.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:50.065Z,1761365690.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:50.156Z,1761365690.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390938,0.920345,-0.011518],[-0.887655,0.373684,-0.269126],[-0.243384,0.115435,0.963036]]
2025-10-25T04:14:50.317Z,1761365690.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:50.563Z,1761365690.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392157,0.919842,-0.010152],[-0.887276,0.375314,-0.268106],[-0.242805,0.114147,0.963336]]
2025-10-25T04:14:50.569Z,1761365690.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:50.821Z,1761365690.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:50.975Z,1761365690.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393117,0.919432,-0.010193],[-0.886952,0.376260,-0.267853],[-0.242438,0.114338,0.963406]]
2025-10-25T04:14:51.075Z,1761365691.075 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:51.326Z,1761365691.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:51.369Z,1761365691.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393804,0.919131,-0.010845],[-0.886762,0.376776,-0.267757],[-0.242018,0.115061,0.963425]]
2025-10-25T04:14:51.416Z,1761365691.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:51.580Z,1761365691.580 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:51.782Z,1761365691.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394390,0.918887,-0.010201],[-0.886597,0.377565,-0.267192],[-0.241667,0.114422,0.963589]]
2025-10-25T04:14:51.833Z,1761365691.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:52.081Z,1761365692.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:52.334Z,1761365692.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:52.582Z,1761365692.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395509,0.918426,-0.008121],[-0.886303,0.379327,-0.265665],[-0.240913,0.112271,0.964031]]
2025-10-25T04:14:52.585Z,1761365692.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:52.837Z,1761365692.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:53.002Z,1761365693.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396073,0.918190,-0.007362],[-0.886311,0.380202,-0.264384],[-0.239956,0.111240,0.964389]]
2025-10-25T04:14:53.090Z,1761365693.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:53.342Z,1761365693.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:53.388Z,1761365693.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396992,0.917801,-0.006209],[-0.886248,0.381567,-0.262625],[-0.238668,0.109763,0.964878]]
2025-10-25T04:14:53.437Z,1761365693.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:53.593Z,1761365693.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:53.793Z,1761365693.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397518,0.917569,-0.006799],[-0.886426,0.382090,-0.261258],[-0.237125,0.109881,0.965245]]
2025-10-25T04:14:53.846Z,1761365693.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:54.097Z,1761365694.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:54.349Z,1761365694.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:54.605Z,1761365694.605 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:54.608Z,1761365694.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397526,0.917537,-0.009945],[-0.887810,0.381863,-0.256853],[-0.231874,0.110935,0.966399]]
2025-10-25T04:14:54.858Z,1761365694.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:55.026Z,1761365695.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397893,0.917374,-0.010308],[-0.888029,0.382295,-0.255452],[-0.230405,0.110797,0.966767]]
2025-10-25T04:14:55.109Z,1761365695.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:55.361Z,1761365695.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:55.453Z,1761365695.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:55.613Z,1761365695.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:55.813Z,1761365695.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399192,0.916816,-0.009701],[-0.888172,0.384050,-0.252301],[-0.227588,0.109332,0.967600]]
2025-10-25T04:14:55.865Z,1761365695.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:56.117Z,1761365696.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:56.217Z,1761365696.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399630,0.916631,-0.009117],[-0.888282,0.384776,-0.250802],[-0.226385,0.108327,0.967995]]
2025-10-25T04:14:56.369Z,1761365696.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:56.621Z,1761365696.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:56.622Z,1761365696.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400938,0.916063,-0.008776],[-0.887985,0.386258,-0.249572],[-0.225234,0.107856,0.968316]]
2025-10-25T04:14:56.874Z,1761365696.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:57.053Z,1761365697.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402343,0.915454,-0.008041],[-0.887592,0.387916,-0.248399],[-0.224278,0.107079,0.968624]]
2025-10-25T04:14:57.126Z,1761365697.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:57.377Z,1761365697.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:57.435Z,1761365697.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403953,0.914750,-0.007400],[-0.887107,0.389745,-0.247266],[-0.223302,0.106448,0.968920]]
2025-10-25T04:14:57.629Z,1761365697.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:57.833Z,1761365697.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405939,0.913872,-0.007213],[-0.886387,0.391784,-0.246623],[-0.222556,0.106507,0.969085]]
2025-10-25T04:14:57.881Z,1761365697.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:57.911Z,1761365697.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:14:58.133Z,1761365698.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:58.236Z,1761365698.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407927,0.912989,-0.006775],[-0.885687,0.393904,-0.245758],[-0.221706,0.106252,0.969307]]
2025-10-25T04:14:58.385Z,1761365698.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:58.637Z,1761365698.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:58.642Z,1761365698.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410426,0.911868,-0.006814],[-0.884749,0.396388,-0.245147],[-0.220840,0.106643,0.969462]]
2025-10-25T04:14:58.889Z,1761365698.889 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:59.085Z,1761365699.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412973,0.910718,-0.006844],[-0.883751,0.398906,-0.244658],[-0.220084,0.107085,0.969585]]
2025-10-25T04:14:59.142Z,1761365699.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:59.393Z,1761365699.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:59.453Z,1761365699.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415400,0.909615,-0.006631],[-0.882800,0.401375,-0.244056],[-0.219335,0.107234,0.969739]]
2025-10-25T04:14:59.646Z,1761365699.646 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:14:59.897Z,1761365699.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:00.150Z,1761365700.150 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:00.256Z,1761365700.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419518,0.907729,-0.005707],[-0.881324,0.405792,-0.242078],[-0.217425,0.106585,0.970240]]
2025-10-25T04:15:00.326Z,1761365700.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:00.401Z,1761365700.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:00.653Z,1761365700.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:00.662Z,1761365700.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420712,0.907181,-0.004854],[-0.881044,0.407304,-0.240553],[-0.216248,0.105480,0.970624]]
2025-10-25T04:15:00.905Z,1761365700.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:01.157Z,1761365701.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:01.409Z,1761365701.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:01.472Z,1761365701.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422781,0.906225,-0.003427],[-0.880645,0.409949,-0.237501],[-0.213824,0.103429,0.971381]]
2025-10-25T04:15:01.605Z,1761365701.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:15:01.661Z,1761365701.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:01.874Z,1761365701.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423130,0.906065,-0.002684],[-0.880788,0.410628,-0.235792],[-0.212540,0.102135,0.971800]]
2025-10-25T04:15:01.915Z,1761365701.915 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:02.166Z,1761365702.166 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:02.296Z,1761365702.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423448,0.905918,-0.001992],[-0.880881,0.411229,-0.234391],[-0.211520,0.101007,0.972140]]
2025-10-25T04:15:02.358Z,1761365702.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:02.418Z,1761365702.418 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:02.609Z,1761365702.609 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:15:02.671Z,1761365702.671 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:02.682Z,1761365702.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423500,0.905896,-0.000367],[-0.881138,0.411832,-0.232357],[-0.210340,0.098726,0.972631]]
2025-10-25T04:15:02.921Z,1761365702.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:03.147Z,1761365703.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423320,0.905980,0.000751],[-0.881509,0.412077,-0.230508],[-0.209145,0.096917,0.973070]]
2025-10-25T04:15:03.173Z,1761365703.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:03.426Z,1761365703.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:03.529Z,1761365703.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423077,0.906094,0.000759],[-0.881886,0.411966,-0.229261],[-0.208045,0.096326,0.973365]]
2025-10-25T04:15:03.677Z,1761365703.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:03.929Z,1761365703.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:03.930Z,1761365703.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422301,0.906456,0.000460],[-0.882583,0.411294,-0.227779],[-0.206661,0.095785,0.973713]]
2025-10-25T04:15:04.181Z,1761365704.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:04.335Z,1761365704.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420985,0.907068,-0.000432],[-0.883571,0.409972,-0.226330],[-0.205120,0.095663,0.974051]]
2025-10-25T04:15:04.398Z,1761365704.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:04.433Z,1761365704.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:04.685Z,1761365704.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:04.742Z,1761365704.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419826,0.907604,0.000237],[-0.884551,0.409221,-0.223849],[-0.203263,0.093768,0.974624]]
2025-10-25T04:15:04.938Z,1761365704.938 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:05.177Z,1761365705.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418543,0.908197,0.000782],[-0.885634,0.408335,-0.221170],[-0.201185,0.091877,0.975235]]
2025-10-25T04:15:05.190Z,1761365705.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:05.442Z,1761365705.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:05.544Z,1761365705.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417031,0.908892,-0.000498],[-0.886877,0.406809,-0.218987],[-0.198833,0.091766,0.975728]]
2025-10-25T04:15:05.693Z,1761365705.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:05.945Z,1761365705.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:05.952Z,1761365705.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415338,0.909665,-0.001947],[-0.888160,0.405054,-0.217034],[-0.196639,0.091872,0.976162]]
2025-10-25T04:15:06.198Z,1761365706.198 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:06.352Z,1761365706.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414005,0.910270,-0.003074],[-0.889259,0.403723,-0.215002],[-0.194469,0.091746,0.976609]]
2025-10-25T04:15:06.403Z,1761365706.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:06.449Z,1761365706.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:06.701Z,1761365706.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:06.953Z,1761365706.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:07.203Z,1761365707.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411582,0.911354,-0.005817],[-0.891359,0.401206,-0.210979],[-0.189943,0.092020,0.977473]]
2025-10-25T04:15:07.205Z,1761365707.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:07.458Z,1761365707.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:07.569Z,1761365707.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410323,0.911910,-0.007494],[-0.892405,0.399828,-0.209168],[-0.187746,0.092514,0.977851]]
2025-10-25T04:15:07.709Z,1761365707.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:07.966Z,1761365707.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:07.970Z,1761365707.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409069,0.912459,-0.008990],[-0.893425,0.398493,-0.207354],[-0.185619,0.092854,0.978225]]
2025-10-25T04:15:08.217Z,1761365708.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:08.372Z,1761365708.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407883,0.912980,-0.009967],[-0.894429,0.397355,-0.205195],[-0.183379,0.092610,0.978670]]
2025-10-25T04:15:08.422Z,1761365708.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:08.469Z,1761365708.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:08.721Z,1761365708.721 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:08.975Z,1761365708.975 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:09.233Z,1761365709.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:09.486Z,1761365709.486 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:09.737Z,1761365709.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:09.991Z,1761365709.991 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:09.997Z,1761365709.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403728,0.914776,-0.013712],[-0.898118,0.393431,-0.196459],[-0.174322,0.091631,0.980416]]
2025-10-25T04:15:10.241Z,1761365710.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:10.402Z,1761365710.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403167,0.915017,-0.014163],[-0.898848,0.393042,-0.193880],[-0.171837,0.090896,0.980923]]
2025-10-25T04:15:10.450Z,1761365710.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:10.493Z,1761365710.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:10.745Z,1761365710.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:10.802Z,1761365710.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403102,0.915036,-0.014782],[-0.899365,0.393107,-0.191337],[-0.169269,0.090423,0.981413]]
2025-10-25T04:15:10.998Z,1761365710.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:11.242Z,1761365711.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403136,0.915002,-0.015902],[-0.899896,0.393202,-0.188627],[-0.166341,0.090352,0.981920]]
2025-10-25T04:15:11.252Z,1761365711.252 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:11.501Z,1761365711.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:11.604Z,1761365711.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402733,0.915162,-0.016850],[-0.900662,0.392937,-0.185495],[-0.163137,0.089881,0.982501]]
2025-10-25T04:15:11.754Z,1761365711.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:12.005Z,1761365712.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:12.259Z,1761365712.259 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:12.424Z,1761365712.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403125,0.914947,-0.019008],[-0.901529,0.393472,-0.180070],[-0.157275,0.089727,0.983470]]
2025-10-25T04:15:12.462Z,1761365712.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:12.509Z,1761365712.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:12.761Z,1761365712.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:12.817Z,1761365712.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403513,0.914760,-0.019762],[-0.901841,0.393983,-0.177371],[-0.154466,0.089394,0.983946]]
2025-10-25T04:15:13.013Z,1761365713.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:13.233Z,1761365713.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403898,0.914543,-0.021838],[-0.902216,0.394281,-0.174781],[-0.151234,0.090297,0.984365]]
2025-10-25T04:15:13.267Z,1761365713.267 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:13.517Z,1761365713.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:13.627Z,1761365713.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404222,0.914380,-0.022687],[-0.902580,0.394742,-0.171840],[-0.148171,0.089939,0.984864]]
2025-10-25T04:15:13.769Z,1761365713.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:14.022Z,1761365714.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:14.030Z,1761365714.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404895,0.914056,-0.023688],[-0.902792,0.395529,-0.168887],[-0.145003,0.089767,0.985351]]
2025-10-25T04:15:14.276Z,1761365714.276 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:14.431Z,1761365714.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405727,0.913641,-0.025392],[-0.902892,0.396327,-0.166466],[-0.142026,0.090466,0.985720]]
2025-10-25T04:15:14.486Z,1761365714.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:14.526Z,1761365714.526 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:14.777Z,1761365714.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:14.836Z,1761365714.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406053,0.913422,-0.027958],[-0.903246,0.396506,-0.164104],[-0.138811,0.091888,0.986047]]
2025-10-25T04:15:15.029Z,1761365715.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:15.246Z,1761365715.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407115,0.912881,-0.030076],[-0.903239,0.397486,-0.161757],[-0.135711,0.093019,0.986372]]
2025-10-25T04:15:15.284Z,1761365715.284 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:15.533Z,1761365715.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:15.645Z,1761365715.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407826,0.912482,-0.032481],[-0.903384,0.398084,-0.159457],[-0.132571,0.094374,0.986670]]
2025-10-25T04:15:15.785Z,1761365715.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:16.037Z,1761365716.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:16.050Z,1761365716.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408316,0.912211,-0.033894],[-0.903622,0.398650,-0.156671],[-0.129405,0.094599,0.987069]]
2025-10-25T04:15:16.292Z,1761365716.292 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:16.526Z,1761365716.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:16.542Z,1761365716.542 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:16.793Z,1761365716.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:16.862Z,1761365716.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408167,0.912177,-0.036505],[-0.904529,0.398692,-0.151234],[-0.123398,0.094749,0.987824]]
2025-10-25T04:15:17.046Z,1761365717.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:17.264Z,1761365717.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408011,0.912223,-0.037101],[-0.904961,0.398722,-0.148545],[-0.120713,0.094183,0.988209]]
2025-10-25T04:15:17.299Z,1761365717.299 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:17.549Z,1761365717.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:17.665Z,1761365717.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407134,0.912575,-0.038054],[-0.905684,0.397965,-0.146148],[-0.118227,0.093967,0.988530]]
2025-10-25T04:15:17.801Z,1761365717.801 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:18.053Z,1761365718.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:18.074Z,1761365718.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406104,0.912987,-0.039169],[-0.906452,0.397023,-0.143936],[-0.115861,0.093957,0.988812]]
2025-10-25T04:15:18.309Z,1761365718.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:18.477Z,1761365718.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405179,0.913340,-0.040482],[-0.907098,0.396098,-0.142406],[-0.114031,0.094421,0.988980]]
2025-10-25T04:15:18.543Z,1761365718.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:18.558Z,1761365718.558 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:18.810Z,1761365718.810 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:18.877Z,1761365718.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403773,0.913917,-0.041516],[-0.907979,0.394768,-0.140474],[-0.111992,0.094415,0.989214]]
2025-10-25T04:15:19.061Z,1761365719.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:19.286Z,1761365719.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402125,0.914630,-0.041813],[-0.908937,0.393295,-0.138392],[-0.110133,0.093656,0.989494]]
2025-10-25T04:15:19.315Z,1761365719.315 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:19.565Z,1761365719.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:19.685Z,1761365719.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400152,0.915429,-0.043230],[-0.910018,0.391324,-0.136867],[-0.108375,0.094108,0.989646]]
2025-10-25T04:15:19.817Z,1761365719.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:20.069Z,1761365720.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:20.088Z,1761365720.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398168,0.916227,-0.044603],[-0.911067,0.389325,-0.135582],[-0.106859,0.094621,0.989762]]
2025-10-25T04:15:20.324Z,1761365720.324 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:20.494Z,1761365720.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395979,0.917134,-0.045441],[-0.912198,0.387206,-0.134040],[-0.105338,0.094528,0.989934]]
2025-10-25T04:15:20.554Z,1761365720.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:20.577Z,1761365720.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:20.829Z,1761365720.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:20.898Z,1761365720.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393604,0.918084,-0.046881],[-0.913392,0.384812,-0.132799],[-0.103880,0.095091,0.990034]]
2025-10-25T04:15:21.082Z,1761365721.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:21.334Z,1761365721.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:21.585Z,1761365721.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:21.705Z,1761365721.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389018,0.919912,-0.049264],[-0.915610,0.380193,-0.130812],[-0.101606,0.095995,0.990182]]
2025-10-25T04:15:21.837Z,1761365721.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:22.089Z,1761365722.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:22.343Z,1761365722.343 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:22.516Z,1761365722.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385257,0.921434,-0.050369],[-0.917403,0.376529,-0.128833],[-0.099746,0.095843,0.990386]]
2025-10-25T04:15:22.559Z,1761365722.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:22.593Z,1761365722.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:22.845Z,1761365722.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:22.918Z,1761365722.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384053,0.921931,-0.050460],[-0.917961,0.375382,-0.128206],[-0.099255,0.095558,0.990463]]
2025-10-25T04:15:23.097Z,1761365723.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:23.334Z,1761365723.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383473,0.922155,-0.050769],[-0.918266,0.374829,-0.127635],[-0.098670,0.095564,0.990521]]
2025-10-25T04:15:23.350Z,1761365723.350 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:23.603Z,1761365723.603 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:23.853Z,1761365723.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:24.105Z,1761365724.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:24.129Z,1761365724.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383093,0.922345,-0.050194],[-0.918499,0.374605,-0.126610],[-0.097975,0.094606,0.990682]]
2025-10-25T04:15:24.358Z,1761365724.358 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:24.531Z,1761365724.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383246,0.922292,-0.050005],[-0.918458,0.374805,-0.126315],[-0.097757,0.094338,0.990729]]
2025-10-25T04:15:24.595Z,1761365724.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:24.611Z,1761365724.611 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:24.861Z,1761365724.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:24.937Z,1761365724.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384311,0.921862,-0.049756],[-0.918003,0.375878,-0.126437],[-0.097856,0.094268,0.990726]]
2025-10-25T04:15:25.113Z,1761365725.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:25.343Z,1761365725.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385757,0.921278,-0.049375],[-0.917386,0.377345,-0.126543],[-0.097949,0.094111,0.990732]]
2025-10-25T04:15:25.365Z,1761365725.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:25.618Z,1761365725.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:25.744Z,1761365725.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387079,0.920688,-0.050033],[-0.916817,0.378546,-0.127078],[-0.098059,0.095060,0.990630]]
2025-10-25T04:15:25.875Z,1761365725.875 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:26.126Z,1761365726.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:26.149Z,1761365726.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388811,0.919921,-0.050704],[-0.916045,0.380121,-0.127944],[-0.098425,0.096194,0.990484]]
2025-10-25T04:15:26.378Z,1761365726.378 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:26.555Z,1761365726.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390663,0.919066,-0.051959],[-0.915213,0.381726,-0.129115],[-0.098831,0.097994,0.990267]]
2025-10-25T04:15:26.615Z,1761365726.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:26.629Z,1761365726.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:26.881Z,1761365726.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:26.959Z,1761365726.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392163,0.918442,-0.051695],[-0.914558,0.383226,-0.129311],[-0.098954,0.097989,0.990256]]
2025-10-25T04:15:27.134Z,1761365727.134 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:27.369Z,1761365727.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394327,0.917482,-0.052274],[-0.913606,0.385254,-0.130012],[-0.099145,0.099025,0.990133]]
2025-10-25T04:15:27.385Z,1761365727.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:27.637Z,1761365727.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:27.768Z,1761365727.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395441,0.917012,-0.052112],[-0.913128,0.386377,-0.130037],[-0.099111,0.099007,0.990139]]
2025-10-25T04:15:27.892Z,1761365727.892 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:28.143Z,1761365728.143 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:28.169Z,1761365728.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395920,0.916831,-0.051655],[-0.912939,0.386931,-0.129722],[-0.098946,0.098518,0.990204]]
2025-10-25T04:15:28.393Z,1761365728.393 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:28.595Z,1761365728.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396105,0.916710,-0.052376],[-0.912901,0.387053,-0.129619],[-0.098551,0.099157,0.990180]]
2025-10-25T04:15:28.645Z,1761365728.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:28.652Z,1761365728.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:28.897Z,1761365728.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:28.983Z,1761365728.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396374,0.916637,-0.051616],[-0.912796,0.387438,-0.129207],[-0.098438,0.098329,0.990273]]
2025-10-25T04:15:29.150Z,1761365729.150 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:29.380Z,1761365729.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396140,0.916754,-0.051332],[-0.912964,0.387313,-0.128398],[-0.097828,0.097728,0.990393]]
2025-10-25T04:15:29.402Z,1761365729.402 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:29.654Z,1761365729.654 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:29.784Z,1761365729.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395656,0.916988,-0.050890],[-0.913238,0.386962,-0.127502],[-0.097226,0.096921,0.990532]]
2025-10-25T04:15:29.905Z,1761365729.905 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:30.158Z,1761365730.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:30.189Z,1761365730.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394967,0.917276,-0.051047],[-0.913603,0.386329,-0.126801],[-0.096591,0.096719,0.990614]]
2025-10-25T04:15:30.409Z,1761365730.409 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:30.594Z,1761365730.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394403,0.917517,-0.051069],[-0.913910,0.385834,-0.126096],[-0.095991,0.096406,0.990703]]
2025-10-25T04:15:30.661Z,1761365730.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:30.665Z,1761365730.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:30.913Z,1761365730.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:30.998Z,1761365730.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394084,0.917584,-0.052324],[-0.914117,0.385417,-0.125873],[-0.095332,0.097435,0.990666]]
2025-10-25T04:15:31.165Z,1761365731.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:31.400Z,1761365731.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393807,0.917605,-0.054007],[-0.914289,0.384968,-0.125999],[-0.094826,0.098998,0.990559]]
2025-10-25T04:15:31.417Z,1761365731.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:31.669Z,1761365731.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:31.805Z,1761365731.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392938,0.917922,-0.054952],[-0.914730,0.384053,-0.125592],[-0.094180,0.099616,0.990559]]
2025-10-25T04:15:31.921Z,1761365731.921 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:32.174Z,1761365732.174 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:32.215Z,1761365732.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392452,0.918078,-0.055806],[-0.914989,0.383512,-0.125353],[-0.093682,0.100257,0.990541]]
2025-10-25T04:15:32.425Z,1761365732.425 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:32.612Z,1761365732.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391744,0.918305,-0.057022],[-0.915366,0.382728,-0.125000],[-0.092964,0.101164,0.990517]]
2025-10-25T04:15:32.674Z,1761365732.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:32.678Z,1761365732.678 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:32.731Z,1761365732.731 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:15:32.929Z,1761365732.929 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:33.017Z,1761365733.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391467,0.918459,-0.056451],[-0.915534,0.382587,-0.124195],[-0.092471,0.100301,0.990651]]
2025-10-25T04:15:33.181Z,1761365733.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:33.422Z,1761365733.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390624,0.918796,-0.056797],[-0.915960,0.381782,-0.123528],[-0.091813,0.100277,0.990714]]
2025-10-25T04:15:33.434Z,1761365733.434 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:33.685Z,1761365733.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:33.735Z,1761365733.735 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:15:33.824Z,1761365733.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390141,0.919007,-0.056703],[-0.916236,0.381397,-0.122667],[-0.091106,0.099811,0.990827]]
2025-10-25T04:15:33.937Z,1761365733.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:34.190Z,1761365734.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:34.229Z,1761365734.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389905,0.919095,-0.056911],[-0.916368,0.381170,-0.122390],[-0.090795,0.099872,0.990849]]
2025-10-25T04:15:34.442Z,1761365734.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:34.639Z,1761365734.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389787,0.919113,-0.057428],[-0.916449,0.381018,-0.122253],[-0.090483,0.100282,0.990836]]
2025-10-25T04:15:34.693Z,1761365734.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:34.698Z,1761365734.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:34.945Z,1761365734.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:35.197Z,1761365735.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:35.445Z,1761365735.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389409,0.919224,-0.058199],[-0.916642,0.380581,-0.122167],[-0.090150,0.100921,0.990802]]
2025-10-25T04:15:35.449Z,1761365735.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:35.701Z,1761365735.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:35.852Z,1761365735.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389458,0.919187,-0.058462],[-0.916639,0.380613,-0.122097],[-0.089979,0.101140,0.990795]]
2025-10-25T04:15:35.955Z,1761365735.955 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:36.205Z,1761365736.205 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:36.254Z,1761365736.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389659,0.919149,-0.057708],[-0.916548,0.380905,-0.121870],[-0.090035,0.100380,0.990867]]
2025-10-25T04:15:36.458Z,1761365736.458 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:36.656Z,1761365736.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389953,0.919042,-0.057433],[-0.916437,0.381247,-0.121630],[-0.089887,0.100063,0.990913]]
2025-10-25T04:15:36.711Z,1761365736.711 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:36.713Z,1761365736.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:36.961Z,1761365736.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:37.064Z,1761365737.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390374,0.918888,-0.057037],[-0.916275,0.381733,-0.121331],[-0.089716,0.099626,0.990972]]
2025-10-25T04:15:37.213Z,1761365737.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:37.464Z,1761365737.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391504,0.918411,-0.056975],[-0.915858,0.382927,-0.120714],[-0.089048,0.099441,0.991051]]
2025-10-25T04:15:37.465Z,1761365737.465 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:37.718Z,1761365737.718 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:37.877Z,1761365737.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393822,0.917439,-0.056662],[-0.914909,0.385303,-0.120349],[-0.088581,0.099236,0.991113]]
2025-10-25T04:15:37.971Z,1761365737.971 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:38.221Z,1761365738.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:38.276Z,1761365738.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396116,0.916451,-0.056655],[-0.913914,0.387561,-0.120654],[-0.088616,0.099571,0.991077]]
2025-10-25T04:15:38.474Z,1761365738.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:38.610Z,1761365738.610 [CTD_Seabird](ERROR): Failed to parse device response: 52.65,11.322.20
2025-10-25T04:15:38.726Z,1761365738.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:38.755Z,1761365738.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:38.977Z,1761365738.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:39.085Z,1761365739.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400676,0.914464,-0.056699],[-0.911942,0.392068,-0.121012],[-0.088431,0.100192,0.991030]]
2025-10-25T04:15:39.230Z,1761365739.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:39.482Z,1761365739.482 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:39.486Z,1761365739.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403014,0.913438,-0.056665],[-0.910903,0.394367,-0.121373],[-0.088520,0.100531,0.990988]]
2025-10-25T04:15:39.733Z,1761365739.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:39.888Z,1761365739.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404765,0.912676,-0.056455],[-0.910115,0.396107,-0.121616],[-0.088633,0.100607,0.990970]]
2025-10-25T04:15:39.989Z,1761365739.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:40.238Z,1761365740.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:40.303Z,1761365740.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406595,0.911885,-0.056090],[-0.909284,0.397940,-0.121844],[-0.088788,0.100543,0.990963]]
2025-10-25T04:15:40.490Z,1761365740.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:40.699Z,1761365740.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408001,0.911297,-0.055442],[-0.908642,0.399398,-0.121867],[-0.088914,0.100098,0.990997]]
2025-10-25T04:15:40.741Z,1761365740.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:40.779Z,1761365740.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:40.993Z,1761365740.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:41.105Z,1761365741.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408954,0.910882,-0.055229],[-0.908216,0.400369,-0.121850],[-0.088879,0.099991,0.991011]]
2025-10-25T04:15:41.245Z,1761365741.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:41.497Z,1761365741.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:41.749Z,1761365741.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:41.917Z,1761365741.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410376,0.910279,-0.054625],[-0.907574,0.401850,-0.121763],[-0.088887,0.099545,0.991055]]
2025-10-25T04:15:42.001Z,1761365742.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:42.253Z,1761365742.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:42.321Z,1761365742.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411355,0.909884,-0.053836],[-0.907109,0.402895,-0.121771],[-0.089107,0.098926,0.991097]]
2025-10-25T04:15:42.507Z,1761365742.507 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:42.757Z,1761365742.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:42.784Z,1761365742.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:43.009Z,1761365743.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:43.129Z,1761365743.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413022,0.909161,-0.053285],[-0.906331,0.404588,-0.121957],[-0.089320,0.098664,0.991104]]
2025-10-25T04:15:43.262Z,1761365743.262 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:43.513Z,1761365743.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:43.542Z,1761365743.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414013,0.908736,-0.052845],[-0.905854,0.405597,-0.122149],[-0.089568,0.098441,0.991104]]
2025-10-25T04:15:43.765Z,1761365743.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:43.949Z,1761365743.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416343,0.907776,-0.051001],[-0.904570,0.407909,-0.123949],[-0.091714,0.097739,0.990977]]
2025-10-25T04:15:44.017Z,1761365744.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:44.270Z,1761365744.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:44.346Z,1761365744.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417411,0.907285,-0.051014],[-0.903928,0.408800,-0.125685],[-0.093178,0.098575,0.990758]]
2025-10-25T04:15:44.521Z,1761365744.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:44.759Z,1761365744.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417984,0.907082,-0.049921],[-0.903554,0.409401,-0.126412],[-0.094229,0.097945,0.990721]]
2025-10-25T04:15:44.773Z,1761365744.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:44.811Z,1761365744.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:45.025Z,1761365745.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:45.158Z,1761365745.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418687,0.906796,-0.049210],[-0.903125,0.410086,-0.127260],[-0.095219,0.097725,0.990648]]
2025-10-25T04:15:45.278Z,1761365745.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:45.529Z,1761365745.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:45.553Z,1761365745.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418999,0.906727,-0.047809],[-0.902855,0.410464,-0.127951],[-0.096393,0.096776,0.990628]]
2025-10-25T04:15:45.781Z,1761365745.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:45.962Z,1761365745.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419366,0.906602,-0.046950],[-0.902588,0.410850,-0.128595],[-0.097295,0.096305,0.990585]]
2025-10-25T04:15:46.033Z,1761365746.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:46.286Z,1761365746.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:46.361Z,1761365746.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419663,0.906475,-0.046751],[-0.902277,0.410999,-0.130294],[-0.098894,0.096862,0.990373]]
2025-10-25T04:15:46.537Z,1761365746.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:46.780Z,1761365746.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419996,0.906293,-0.047291],[-0.901964,0.411094,-0.132148],[-0.100323,0.098157,0.990101]]
2025-10-25T04:15:46.791Z,1761365746.791 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:46.841Z,1761365746.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:47.042Z,1761365747.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:47.169Z,1761365747.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420621,0.906044,-0.046493],[-0.901557,0.411713,-0.132996],[-0.101358,0.097857,0.990026]]
2025-10-25T04:15:47.294Z,1761365747.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:47.545Z,1761365747.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:47.572Z,1761365747.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420890,0.905929,-0.046314],[-0.901245,0.411825,-0.134750],[-0.103000,0.098455,0.989797]]
2025-10-25T04:15:47.799Z,1761365747.799 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:48.049Z,1761365748.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:48.302Z,1761365748.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:48.383Z,1761365748.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420381,0.906221,-0.045194],[-0.901280,0.411301,-0.136109],[-0.104757,0.097950,0.989662]]
2025-10-25T04:15:48.553Z,1761365748.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:48.806Z,1761365748.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:48.809Z,1761365748.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420566,0.906152,-0.044863],[-0.901089,0.411436,-0.136965],[-0.105653,0.098028,0.989559]]
2025-10-25T04:15:48.847Z,1761365748.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:49.058Z,1761365749.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:49.188Z,1761365749.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420335,0.906302,-0.043989],[-0.901075,0.411228,-0.137678],[-0.106688,0.097508,0.989500]]
2025-10-25T04:15:49.309Z,1761365749.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:49.561Z,1761365749.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:49.595Z,1761365749.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420403,0.906288,-0.043627],[-0.900918,0.411237,-0.138674],[-0.107738,0.097603,0.989377]]
2025-10-25T04:15:49.815Z,1761365749.815 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:49.000Z,1761365750.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420453,0.906259,-0.043741],[-0.900731,0.411120,-0.140228],[-0.109100,0.098358,0.989153]]
2025-10-25T04:15:50.065Z,1761365750.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:50.317Z,1761365750.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:50.405Z,1761365750.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420488,0.906239,-0.043813],[-0.900591,0.411032,-0.141379],[-0.110115,0.098906,0.988986]]
2025-10-25T04:15:50.569Z,1761365750.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:50.824Z,1761365750.824 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:50.837Z,1761365750.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420701,0.906172,-0.043171],[-0.900330,0.411197,-0.142558],[-0.111430,0.098842,0.988845]]
2025-10-25T04:15:50.877Z,1761365750.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:51.074Z,1761365751.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:51.325Z,1761365751.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:51.577Z,1761365751.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:51.616Z,1761365751.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420956,0.906095,-0.042296],[-0.899879,0.411295,-0.145103],[-0.114081,0.099143,0.988512]]
2025-10-25T04:15:51.832Z,1761365751.832 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:52.016Z,1761365752.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421168,0.906005,-0.042109],[-0.899612,0.411387,-0.146488],[-0.115396,0.099578,0.988316]]
2025-10-25T04:15:52.081Z,1761365752.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:52.334Z,1761365752.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:52.420Z,1761365752.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421584,0.905828,-0.041741],[-0.899230,0.411695,-0.147960],[-0.116841,0.099913,0.988112]]
2025-10-25T04:15:52.585Z,1761365752.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:52.839Z,1761365752.839 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:52.882Z,1761365752.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421859,0.905719,-0.041326],[-0.898922,0.411880,-0.149313],[-0.118214,0.100138,0.987926]]
2025-10-25T04:15:52.937Z,1761365752.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:53.089Z,1761365753.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:53.231Z,1761365753.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422317,0.905601,-0.039184],[-0.898541,0.412545,-0.149769],[-0.119466,0.098459,0.987944]]
2025-10-25T04:15:53.342Z,1761365753.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:53.593Z,1761365753.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:53.633Z,1761365753.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422304,0.905651,-0.038147],[-0.898386,0.412572,-0.150620],[-0.120670,0.097878,0.987855]]
2025-10-25T04:15:53.848Z,1761365753.848 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:54.040Z,1761365754.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422776,0.905443,-0.037873],[-0.898011,0.412956,-0.151803],[-0.121810,0.098189,0.987685]]
2025-10-25T04:15:54.098Z,1761365754.098 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:54.349Z,1761365754.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:54.442Z,1761365754.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422184,0.905827,-0.035201],[-0.898154,0.412716,-0.151608],[-0.122802,0.095622,0.987814]]
2025-10-25T04:15:54.601Z,1761365754.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:54.855Z,1761365754.855 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:54.899Z,1761365754.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420806,0.906545,-0.033138],[-0.898720,0.411648,-0.151155],[-0.123387,0.093389,0.987954]]
2025-10-25T04:15:54.958Z,1761365754.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:55.106Z,1761365755.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:55.248Z,1761365755.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419764,0.907101,-0.031074],[-0.899128,0.410911,-0.150734],[-0.123962,0.091212,0.988086]]
2025-10-25T04:15:55.357Z,1761365755.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:55.609Z,1761365755.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:55.653Z,1761365755.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418214,0.907876,-0.029286],[-0.899763,0.409624,-0.150445],[-0.124589,0.089268,0.988185]]
2025-10-25T04:15:55.864Z,1761365755.864 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:56.055Z,1761365756.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416405,0.908762,-0.027544],[-0.900571,0.408114,-0.149716],[-0.124815,0.087147,0.988345]]
2025-10-25T04:15:56.113Z,1761365756.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:56.365Z,1761365756.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:56.462Z,1761365756.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414255,0.909786,-0.026122],[-0.901540,0.406222,-0.149030],[-0.124974,0.085286,0.988488]]
2025-10-25T04:15:56.617Z,1761365756.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:56.871Z,1761365756.871 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:56.918Z,1761365756.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412092,0.910786,-0.025462],[-0.902526,0.404202,-0.148554],[-0.125009,0.084198,0.988576]]
2025-10-25T04:15:56.968Z,1761365756.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:57.121Z,1761365757.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:57.269Z,1761365757.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409708,0.911862,-0.025432],[-0.903590,0.401850,-0.148467],[-0.125161,0.083808,0.988590]]
2025-10-25T04:15:57.374Z,1761365757.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:57.625Z,1761365757.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:57.673Z,1761365757.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406778,0.913178,-0.025265],[-0.904879,0.398976,-0.148366],[-0.125404,0.083214,0.988610]]
2025-10-25T04:15:57.881Z,1761365757.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:58.079Z,1761365758.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403577,0.914631,-0.023986],[-0.906293,0.396026,-0.147634],[-0.125532,0.081320,0.988751]]
2025-10-25T04:15:58.094Z,1761365758.094 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 226.34, 236.98, 198.16
2025-10-25T04:15:58.130Z,1761365758.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:58.381Z,1761365758.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:58.480Z,1761365758.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399841,0.916313,-0.022326],[-0.907938,0.392614,-0.146638],[-0.125601,0.078903,0.988938]]
2025-10-25T04:15:58.633Z,1761365758.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:58.887Z,1761365758.887 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:58.915Z,1761365758.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396229,0.917895,-0.021715],[-0.909503,0.389148,-0.146182],[-0.125729,0.077671,0.989019]]
2025-10-25T04:15:58.986Z,1761365758.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:15:59.138Z,1761365759.138 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:59.390Z,1761365759.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:59.641Z,1761365759.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:15:59.695Z,1761365759.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388171,0.921388,-0.019195],[-0.912919,0.381586,-0.144814],[-0.126105,0.073736,0.989273]]
2025-10-25T04:15:59.895Z,1761365759.895 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:00.101Z,1761365760.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383954,0.923159,-0.018872],[-0.914669,0.377468,-0.144563],[-0.126332,0.072767,0.989316]]
2025-10-25T04:16:00.145Z,1761365760.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:00.397Z,1761365760.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:00.502Z,1761365760.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379850,0.924866,-0.018375],[-0.916376,0.373501,-0.144058],[-0.126371,0.071559,0.989399]]
2025-10-25T04:16:00.649Z,1761365760.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:00.901Z,1761365760.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:01.154Z,1761365761.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:01.317Z,1761365761.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366360,0.930269,-0.019478],[-0.921848,0.360041,-0.143409],[-0.126396,0.070495,0.989472]]
2025-10-25T04:16:01.369Z,1761365761.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:01.405Z,1761365761.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:01.659Z,1761365761.659 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:01.726Z,1761365761.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361518,0.932147,-0.020159],[-0.923796,0.355187,-0.142978],[-0.126116,0.070312,0.989521]]
2025-10-25T04:16:01.909Z,1761365761.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:02.162Z,1761365762.162 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:02.413Z,1761365762.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:02.520Z,1761365762.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350389,0.936357,-0.021510],[-0.928291,0.344134,-0.140877],[-0.124509,0.069329,0.989793]]
2025-10-25T04:16:02.665Z,1761365762.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:02.917Z,1761365762.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:03.169Z,1761365763.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:03.329Z,1761365763.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338138,0.940837,-0.022088],[-0.933186,0.332167,-0.137217],[-0.121762,0.067011,0.990295]]
2025-10-25T04:16:03.375Z,1761365763.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:03.421Z,1761365763.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:03.674Z,1761365763.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:03.737Z,1761365763.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332120,0.942952,-0.023190],[-0.935540,0.326176,-0.135551],[-0.120254,0.066714,0.990499]]
2025-10-25T04:16:03.853Z,1761365763.853 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:16:03.927Z,1761365763.927 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:04.136Z,1761365764.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325821,0.945135,-0.023667],[-0.937946,0.319996,-0.133640],[-0.118735,0.065741,0.990747]]
2025-10-25T04:16:04.177Z,1761365764.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:04.429Z,1761365764.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:04.543Z,1761365764.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320017,0.947091,-0.024672],[-0.940146,0.314236,-0.131839],[-0.117110,0.065386,0.990964]]
2025-10-25T04:16:04.681Z,1761365764.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:04.858Z,1761365764.858 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:16:04.937Z,1761365764.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:04.946Z,1761365764.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313851,0.949123,-0.025759],[-0.942388,0.308087,-0.130332],[-0.115766,0.065180,0.991136]]
2025-10-25T04:16:05.189Z,1761365765.189 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:05.349Z,1761365765.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307578,0.951122,-0.027627],[-0.944659,0.301749,-0.128708],[-0.114081,0.065686,0.991298]]
2025-10-25T04:16:05.396Z,1761365765.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:05.442Z,1761365765.442 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:05.693Z,1761365765.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:05.758Z,1761365765.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301480,0.953053,-0.028283],[-0.946803,0.295737,-0.126902],[-0.112580,0.065037,0.991512]]
2025-10-25T04:16:05.945Z,1761365765.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:06.168Z,1761365766.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295249,0.954975,-0.029175],[-0.948966,0.289574,-0.124943],[-0.110869,0.064576,0.991735]]
2025-10-25T04:16:06.197Z,1761365766.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:06.449Z,1761365766.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:06.561Z,1761365766.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288950,0.956887,-0.029595],[-0.951096,0.283401,-0.122881],[-0.109196,0.063654,0.991980]]
2025-10-25T04:16:06.701Z,1761365766.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:06.961Z,1761365766.961 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:06.966Z,1761365766.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283281,0.958557,-0.030323],[-0.952943,0.277781,-0.121399],[-0.107945,0.063286,0.992141]]
2025-10-25T04:16:07.213Z,1761365767.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:07.369Z,1761365767.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278110,0.960057,-0.030746],[-0.954593,0.272685,-0.119982],[-0.106805,0.062718,0.992300]]
2025-10-25T04:16:07.425Z,1761365767.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:07.466Z,1761365767.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:07.717Z,1761365767.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:07.782Z,1761365767.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272686,0.961602,-0.031054],[-0.956308,0.267365,-0.118283],[-0.105438,0.061951,0.992494]]
2025-10-25T04:16:07.969Z,1761365767.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:08.175Z,1761365768.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267765,0.962932,-0.032627],[-0.957831,0.262378,-0.117125],[-0.104223,0.062614,0.992581]]
2025-10-25T04:16:08.221Z,1761365768.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:08.474Z,1761365768.474 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:08.585Z,1761365768.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262706,0.964333,-0.032373],[-0.959344,0.257466,-0.115632],[-0.103172,0.061434,0.992764]]
2025-10-25T04:16:08.726Z,1761365768.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:08.977Z,1761365768.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:08.991Z,1761365768.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257888,0.965669,-0.031260],[-0.960759,0.252887,-0.113976],[-0.102158,0.059427,0.992992]]
2025-10-25T04:16:09.230Z,1761365769.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:09.389Z,1761365769.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253445,0.966830,-0.031702],[-0.962035,0.248487,-0.112882],[-0.101260,0.059108,0.993102]]
2025-10-25T04:16:09.442Z,1761365769.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:09.482Z,1761365769.482 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:09.733Z,1761365769.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:09.793Z,1761365769.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248096,0.968195,-0.032360],[-0.963548,0.243177,-0.111536],[-0.100119,0.058852,0.993233]]
2025-10-25T04:16:09.988Z,1761365769.988 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:10.204Z,1761365770.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243243,0.969393,-0.033319],[-0.964905,0.238327,-0.110268],[-0.098953,0.058972,0.993343]]
2025-10-25T04:16:10.237Z,1761365770.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:10.490Z,1761365770.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:10.741Z,1761365770.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:10.996Z,1761365770.996 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:11.006Z,1761365771.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233372,0.971737,-0.035565],[-0.967540,0.228406,-0.108149],[-0.096969,0.059650,0.993498]]
2025-10-25T04:16:11.249Z,1761365771.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:11.412Z,1761365771.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227950,0.972943,-0.037683],[-0.968932,0.222856,-0.107262],[-0.095962,0.060962,0.993516]]
2025-10-25T04:16:11.450Z,1761365771.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:11.502Z,1761365771.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:11.753Z,1761365771.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:11.823Z,1761365771.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222306,0.974217,-0.038478],[-0.970366,0.217249,-0.105801],[-0.094714,0.060858,0.993643]]
2025-10-25T04:16:12.005Z,1761365772.005 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:12.217Z,1761365772.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216436,0.975537,-0.038509],[-0.971816,0.211501,-0.104118],[-0.093427,0.059958,0.993819]]
2025-10-25T04:16:12.257Z,1761365772.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:12.509Z,1761365772.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:12.620Z,1761365772.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210681,0.976760,-0.039410],[-0.973204,0.205773,-0.102624],[-0.092130,0.059975,0.993939]]
2025-10-25T04:16:12.762Z,1761365772.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:13.017Z,1761365773.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:13.028Z,1761365773.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204530,0.978042,-0.040004],[-0.974641,0.199687,-0.100998],[-0.090792,0.059647,0.994082]]
2025-10-25T04:16:13.270Z,1761365773.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:13.431Z,1761365773.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197656,0.979391,-0.041531],[-0.976196,0.192798,-0.099353],[-0.089299,0.060180,0.994185]]
2025-10-25T04:16:13.477Z,1761365773.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:13.521Z,1761365773.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:13.775Z,1761365773.775 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:13.833Z,1761365773.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191064,0.980640,-0.042892],[-0.977632,0.186200,-0.097803],[-0.087923,0.060620,0.994281]]
2025-10-25T04:16:14.025Z,1761365774.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:14.237Z,1761365774.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184289,0.981901,-0.043685],[-0.979030,0.179462,-0.096400],[-0.086815,0.060534,0.994384]]
2025-10-25T04:16:14.278Z,1761365774.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:14.529Z,1761365774.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:14.642Z,1761365774.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177503,0.983075,-0.045351],[-0.980373,0.172621,-0.095240],[-0.085800,0.061367,0.994421]]
2025-10-25T04:16:14.781Z,1761365774.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:15.033Z,1761365775.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:15.046Z,1761365775.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170024,0.984345,-0.046449],[-0.981806,0.165165,-0.093689],[-0.084550,0.061533,0.994517]]
2025-10-25T04:16:15.286Z,1761365775.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:15.447Z,1761365775.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162808,0.985509,-0.047600],[-0.983128,0.157959,-0.092241],[-0.083385,0.061815,0.994598]]
2025-10-25T04:16:15.505Z,1761365775.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:15.537Z,1761365775.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:15.790Z,1761365775.790 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:15.853Z,1761365775.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155714,0.986646,-0.047785],[-0.984366,0.150959,-0.090745],[-0.082319,0.061168,0.994727]]
2025-10-25T04:16:16.042Z,1761365776.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:16.261Z,1761365776.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148123,0.987850,-0.047026],[-0.985620,0.143544,-0.089153],[-0.081319,0.059555,0.994907]]
2025-10-25T04:16:16.294Z,1761365776.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:16.545Z,1761365776.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:16.661Z,1761365776.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140753,0.988910,-0.047380],[-0.986787,0.136250,-0.087676],[-0.080248,0.059095,0.995022]]
2025-10-25T04:16:16.797Z,1761365776.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:17.049Z,1761365777.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:17.066Z,1761365777.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133090,0.989949,-0.047832],[-0.987959,0.128671,-0.085914],[-0.078896,0.058690,0.995154]]
2025-10-25T04:16:17.302Z,1761365777.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:17.473Z,1761365777.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125998,0.990889,-0.047570],[-0.989012,0.121732,-0.083882],[-0.077327,0.057616,0.995340]]
2025-10-25T04:16:17.538Z,1761365777.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:17.553Z,1761365777.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:17.805Z,1761365777.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:18.058Z,1761365778.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:18.286Z,1761365778.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105578,0.993177,-0.049522],[-0.991800,0.101563,-0.077577],[-0.072018,0.057306,0.995756]]
2025-10-25T04:16:18.309Z,1761365778.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:18.562Z,1761365778.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:18.686Z,1761365778.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099070,0.993801,-0.050452],[-0.992612,0.095128,-0.075317],[-0.070051,0.057541,0.995883]]
2025-10-25T04:16:18.813Z,1761365778.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:19.066Z,1761365779.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:19.088Z,1761365779.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092481,0.994422,-0.050713],[-0.993362,0.088644,-0.073313],[-0.068409,0.057156,0.996019]]
2025-10-25T04:16:19.317Z,1761365779.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:19.491Z,1761365779.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085683,0.994922,-0.052816],[-0.994095,0.081829,-0.071274],[-0.066590,0.058612,0.996057]]
2025-10-25T04:16:19.567Z,1761365779.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:19.569Z,1761365779.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:19.821Z,1761365779.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:19.893Z,1761365779.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079203,0.995408,-0.053753],[-0.994748,0.075413,-0.069210],[-0.064838,0.058952,0.996153]]
2025-10-25T04:16:20.075Z,1761365780.075 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:20.304Z,1761365780.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072814,0.995828,-0.054999],[-0.995347,0.069068,-0.067185],[-0.063106,0.059636,0.996224]]
2025-10-25T04:16:20.326Z,1761365780.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:20.577Z,1761365780.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:20.700Z,1761365780.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066494,0.996227,-0.055768],[-0.995911,0.062840,-0.064903],[-0.061153,0.059856,0.996332]]
2025-10-25T04:16:20.830Z,1761365780.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:21.081Z,1761365781.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:21.105Z,1761365781.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060216,0.996581,-0.056575],[-0.996424,0.056648,-0.062687],[-0.059267,0.060148,0.996428]]
2025-10-25T04:16:21.334Z,1761365781.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:21.579Z,1761365781.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:21.585Z,1761365781.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:21.837Z,1761365781.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:21.914Z,1761365781.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048471,0.997192,-0.057092],[-0.997265,0.045123,-0.058535],[-0.055794,0.059773,0.996652]]
2025-10-25T04:16:21.933Z,1761365781.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached waypoint: 36.779130,-121.859630
2025-10-25T04:16:21.933Z,1761365781.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-10-25T04:16:21.933Z,1761365781.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-10-25T04:16:21.934Z,1761365781.934 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2025-10-25T04:16:22.090Z,1761365782.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:22.326Z,1761365782.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042041,0.997408,-0.058390],[-0.997650,0.038742,-0.056513],[-0.054104,0.060628,0.996693]]
2025-10-25T04:16:22.342Z,1761365782.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:22.367Z,1761365782.367 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2025-10-25T04:16:22.367Z,1761365782.367 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2025-10-25T04:16:22.367Z,1761365782.367 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2025-10-25T04:16:22.367Z,1761365782.367 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2025-10-25T04:16:22.367Z,1761365782.367 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2025-10-25T04:16:22.368Z,1761365782.368 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2025-10-25T04:16:22.368Z,1761365782.368 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2025-10-25T04:16:22.368Z,1761365782.368 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2025-10-25T04:16:22.593Z,1761365782.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:22.720Z,1761365782.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035986,0.997644,-0.058409],[-0.997974,0.032807,-0.054503],[-0.052459,0.060252,0.996804]]
2025-10-25T04:16:22.759Z,1761365782.759 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2025-10-25T04:16:22.845Z,1761365782.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:23.099Z,1761365783.099 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:23.125Z,1761365783.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029452,0.997779,-0.059744],[-0.998283,0.026334,-0.052317],[-0.050628,0.061182,0.996842]]
2025-10-25T04:16:23.349Z,1761365783.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:23.534Z,1761365783.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023280,0.997813,-0.061866],[-0.998538,0.020188,-0.050140],[-0.048781,0.062943,0.996824]]
2025-10-25T04:16:23.603Z,1761365783.603 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:23.853Z,1761365783.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:23.932Z,1761365783.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016439,0.997802,-0.064199],[-0.998758,0.013367,-0.047997],[-0.047033,0.064909,0.996782]]
2025-10-25T04:16:23.962Z,1761365783.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:24.105Z,1761365784.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:24.349Z,1761365784.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010488,0.997710,-0.066815],[-0.998907,0.007410,-0.046150],[-0.045549,0.067226,0.996697]]
2025-10-25T04:16:24.362Z,1761365784.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:24.615Z,1761365784.615 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:24.741Z,1761365784.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005606,0.997581,-0.069292],[-0.999012,0.002533,-0.044367],[-0.044084,0.069472,0.996609]]
2025-10-25T04:16:24.865Z,1761365784.865 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:25.117Z,1761365785.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:25.147Z,1761365785.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001965,0.997339,-0.072875],[-0.999083,-0.001159,-0.042794],[-0.042764,0.072892,0.996423]]
2025-10-25T04:16:25.369Z,1761365785.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:25.547Z,1761365785.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000516,0.996950,-0.078038],[-0.999152,-0.003727,-0.041002],[-0.041168,0.077951,0.996107]]
2025-10-25T04:16:25.622Z,1761365785.622 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:25.874Z,1761365785.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:25.954Z,1761365785.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000173,0.996357,-0.085283],[-0.999232,-0.003513,-0.039018],[-0.039176,0.085210,0.995593]]
2025-10-25T04:16:25.971Z,1761365785.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:26.125Z,1761365786.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:26.377Z,1761365786.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:26.380Z,1761365786.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004381,0.995238,-0.097378],[-0.999311,0.000769,-0.037103],[-0.036852,0.097473,0.994556]]
2025-10-25T04:16:26.629Z,1761365786.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:26.761Z,1761365786.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011752,0.993561,-0.112684],[-0.999352,0.007837,-0.035122],[-0.034013,0.113024,0.993010]]
2025-10-25T04:16:26.882Z,1761365786.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:27.133Z,1761365787.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:27.165Z,1761365787.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022806,0.991374,-0.129065],[-0.999263,0.018615,-0.033583],[-0.030890,0.129735,0.991067]]
2025-10-25T04:16:27.385Z,1761365787.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:27.572Z,1761365787.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037606,0.988252,-0.148133],[-0.998923,0.033146,-0.032461],[-0.027169,0.149194,0.988435]]
2025-10-25T04:16:27.637Z,1761365787.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:27.890Z,1761365787.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:28.014Z,1761365788.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:28.145Z,1761365788.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:28.397Z,1761365788.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:28.408Z,1761365788.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080581,0.976308,-0.200824],[-0.996596,0.075401,-0.033321],[-0.017389,0.202825,0.979061]]
2025-10-25T04:16:28.645Z,1761365788.645 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:28.781Z,1761365788.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106834,0.967500,-0.229193],[-0.994209,0.101266,-0.035954],[-0.011576,0.231707,0.972717]]
2025-10-25T04:16:28.901Z,1761365788.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:29.154Z,1761365789.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:29.188Z,1761365789.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134855,0.957687,-0.254263],[-0.990851,0.128935,-0.039887],[-0.005415,0.257316,0.966312]]
2025-10-25T04:16:29.406Z,1761365789.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:29.601Z,1761365789.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164833,0.947292,-0.274715],[-0.986321,0.158685,-0.044617],[0.001328,0.278311,0.960490]]
2025-10-25T04:16:29.658Z,1761365789.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:29.909Z,1761365789.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:29.994Z,1761365789.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196016,0.936269,-0.291510],[-0.980567,0.189603,-0.050383],[0.008099,0.295722,0.955240]]
2025-10-25T04:16:30.037Z,1761365790.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:30.161Z,1761365790.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:30.417Z,1761365790.417 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:30.435Z,1761365790.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227477,0.925342,-0.303310],[-0.973669,0.220910,-0.056279],[0.014927,0.308126,0.951228]]
2025-10-25T04:16:30.666Z,1761365790.666 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:30.917Z,1761365790.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:31.170Z,1761365791.170 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:31.205Z,1761365791.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287244,0.905922,-0.311121],[-0.957460,0.280912,-0.066020],[0.027588,0.316849,0.948075]]
2025-10-25T04:16:31.426Z,1761365791.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:31.609Z,1761365791.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315247,0.897148,-0.309428],[-0.948440,0.309134,-0.069980],[0.032872,0.315535,0.948344]]
2025-10-25T04:16:31.673Z,1761365791.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:31.925Z,1761365791.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:32.013Z,1761365792.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340135,0.889986,-0.303700],[-0.939640,0.334435,-0.072316],[0.037207,0.309966,0.950019]]
2025-10-25T04:16:32.177Z,1761365792.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:32.432Z,1761365792.432 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:32.460Z,1761365792.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362281,0.885141,-0.292025],[-0.931202,0.357232,-0.072444],[0.040197,0.298179,0.953663]]
2025-10-25T04:16:32.547Z,1761365792.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:32.682Z,1761365792.682 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:32.820Z,1761365792.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381863,0.880701,-0.280261],[-0.923244,0.377426,-0.071909],[0.042448,0.286209,0.957227]]
2025-10-25T04:16:32.933Z,1761365792.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:33.185Z,1761365793.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:33.234Z,1761365793.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398316,0.877122,-0.268332],[-0.916169,0.394634,-0.069998],[0.044496,0.273718,0.960780]]
2025-10-25T04:16:33.440Z,1761365793.440 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:33.627Z,1761365793.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412169,0.874778,-0.254717],[-0.909964,0.409239,-0.066996],[0.045633,0.259397,0.964692]]
2025-10-25T04:16:33.689Z,1761365793.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:33.941Z,1761365793.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:34.035Z,1761365794.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423758,0.872856,-0.241973],[-0.904582,0.421527,-0.063607],[0.046478,0.245838,0.968196]]
2025-10-25T04:16:34.193Z,1761365794.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:34.451Z,1761365794.451 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:34.563Z,1761365794.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:34.701Z,1761365794.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:34.928Z,1761365794.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451569,0.867341,-0.209295],[-0.891044,0.450503,-0.055559],[0.046099,0.211580,0.976273]]
2025-10-25T04:16:34.953Z,1761365794.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:34.990Z,1761365794.990 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:16:35.206Z,1761365795.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:35.325Z,1761365795.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458162,0.866680,-0.197367],[-0.887755,0.457277,-0.052806],[0.044486,0.199407,0.978906]]
2025-10-25T04:16:35.459Z,1761365795.459 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:35.709Z,1761365795.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:35.732Z,1761365795.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464255,0.865900,-0.186238],[-0.884689,0.463408,-0.050776],[0.042337,0.188336,0.981192]]
2025-10-25T04:16:35.962Z,1761365795.962 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:35.993Z,1761365795.993 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:16:36.133Z,1761365796.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469237,0.865472,-0.175429],[-0.882167,0.468405,-0.048759],[0.039972,0.177638,0.983284]]
2025-10-25T04:16:36.213Z,1761365796.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:36.468Z,1761365796.468 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:36.538Z,1761365796.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474359,0.864341,-0.167028],[-0.879533,0.473399,-0.048114],[0.037484,0.169730,0.984777]]
2025-10-25T04:16:36.578Z,1761365796.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:36.717Z,1761365796.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:36.941Z,1761365796.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479275,0.863042,-0.159542],[-0.876980,0.478104,-0.048200],[0.034679,0.163016,0.986014]]
2025-10-25T04:16:36.969Z,1761365796.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:37.223Z,1761365797.223 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:37.345Z,1761365797.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483307,0.861727,-0.154406],[-0.874865,0.481863,-0.049178],[0.032024,0.158853,0.986783]]
2025-10-25T04:16:37.477Z,1761365797.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:37.726Z,1761365797.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:37.766Z,1761365797.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487404,0.860601,-0.147661],[-0.872696,0.485733,-0.049661],[0.028986,0.153068,0.987790]]
2025-10-25T04:16:37.977Z,1761365797.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:38.152Z,1761365798.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490851,0.859578,-0.142094],[-0.870858,0.488916,-0.050671],[0.025917,0.148616,0.988555]]
2025-10-25T04:16:38.229Z,1761365798.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:38.483Z,1761365798.483 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:38.562Z,1761365798.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493965,0.858763,-0.136105],[-0.869184,0.491801,-0.051478],[0.022729,0.143729,0.989356]]
2025-10-25T04:16:38.613Z,1761365798.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:38.735Z,1761365798.735 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:38.985Z,1761365798.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:39.237Z,1761365799.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:39.369Z,1761365799.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499332,0.857508,-0.123885],[-0.866254,0.496833,-0.052545],[0.016492,0.133553,0.990904]]
2025-10-25T04:16:39.492Z,1761365799.492 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:39.743Z,1761365799.743 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:39.770Z,1761365799.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501622,0.856936,-0.118471],[-0.864986,0.498932,-0.053538],[0.013230,0.129331,0.991513]]
2025-10-25T04:16:39.996Z,1761365799.996 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:40.172Z,1761365800.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504237,0.856171,-0.112767],[-0.863507,0.501402,-0.054328],[0.010027,0.124770,0.992135]]
2025-10-25T04:16:40.246Z,1761365800.246 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:40.497Z,1761365800.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:40.591Z,1761365800.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506460,0.855397,-0.108602],[-0.862236,0.503409,-0.055921],[0.006836,0.121963,0.992511]]
2025-10-25T04:16:40.652Z,1761365800.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:40.749Z,1761365800.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:41.001Z,1761365801.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:41.253Z,1761365801.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:41.385Z,1761365801.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510520,0.853796,-0.101993],[-0.859866,0.506946,-0.060304],[0.000218,0.118486,0.992956]]
2025-10-25T04:16:41.505Z,1761365801.505 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:41.757Z,1761365801.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:41.794Z,1761365801.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512275,0.853260,-0.097575],[-0.858815,0.508521,-0.061995],[-0.003279,0.115558,0.993295]]
2025-10-25T04:16:42.009Z,1761365802.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:42.263Z,1761365802.263 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:42.513Z,1761365802.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:42.623Z,1761365802.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514628,0.852822,-0.088618],[-0.857353,0.510610,-0.064982],[-0.010168,0.109418,0.993944]]
2025-10-25T04:16:42.677Z,1761365802.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:42.765Z,1761365802.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:43.001Z,1761365803.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515880,0.852417,-0.085164],[-0.856557,0.511715,-0.066766],[-0.013332,0.107391,0.994128]]
2025-10-25T04:16:43.017Z,1761365803.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:43.270Z,1761365803.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:43.412Z,1761365803.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516881,0.852195,-0.081220],[-0.855898,0.512624,-0.068233],[-0.016512,0.104784,0.994358]]
2025-10-25T04:16:43.524Z,1761365803.524 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:43.773Z,1761365803.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:43.807Z,1761365803.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518044,0.851733,-0.078626],[-0.855130,0.513611,-0.070399],[-0.019578,0.103705,0.994415]]
2025-10-25T04:16:44.025Z,1761365804.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:44.213Z,1761365804.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518463,0.851769,-0.075396],[-0.854804,0.513946,-0.071906],[-0.022498,0.101729,0.994558]]
2025-10-25T04:16:44.279Z,1761365804.279 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:44.530Z,1761365804.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:44.648Z,1761365804.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518420,0.852084,-0.072064],[-0.854756,0.513871,-0.073002],[-0.025172,0.099443,0.994725]]
2025-10-25T04:16:44.697Z,1761365804.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:44.782Z,1761365804.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:45.021Z,1761365805.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518368,0.852414,-0.068442],[-0.854692,0.513785,-0.074338],[-0.028203,0.097031,0.994882]]
2025-10-25T04:16:45.033Z,1761365805.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:45.286Z,1761365805.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:45.426Z,1761365805.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517917,0.852899,-0.065767],[-0.854871,0.513265,-0.075862],[-0.030947,0.095512,0.994947]]
2025-10-25T04:16:45.537Z,1761365805.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:45.790Z,1761365805.790 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:45.827Z,1761365805.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517124,0.853516,-0.063982],[-0.855275,0.512415,-0.077037],[-0.032967,0.094560,0.994973]]
2025-10-25T04:16:46.041Z,1761365806.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:46.234Z,1761365806.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516635,0.853915,-0.062585],[-0.855515,0.511903,-0.077777],[-0.034377,0.093725,0.995005]]
2025-10-25T04:16:46.294Z,1761365806.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:46.545Z,1761365806.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:46.671Z,1761365806.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516495,0.854064,-0.061704],[-0.855552,0.511716,-0.078593],[-0.035548,0.093384,0.994995]]
2025-10-25T04:16:46.724Z,1761365806.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:46.798Z,1761365806.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:47.041Z,1761365807.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515194,0.855005,-0.059512],[-0.856300,0.510538,-0.078104],[-0.036396,0.091199,0.995167]]
2025-10-25T04:16:47.049Z,1761365807.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:47.302Z,1761365807.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:47.444Z,1761365807.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514654,0.855422,-0.058169],[-0.856576,0.510008,-0.078541],[-0.037519,0.090248,0.995212]]
2025-10-25T04:16:47.553Z,1761365807.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:47.806Z,1761365807.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:47.852Z,1761365807.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513346,0.856337,-0.056245],[-0.857324,0.508800,-0.078224],[-0.038369,0.088376,0.995348]]
2025-10-25T04:16:48.058Z,1761365808.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:48.257Z,1761365808.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512069,0.857209,-0.054565],[-0.858043,0.507590,-0.078197],[-0.039335,0.086861,0.995444]]
2025-10-25T04:16:48.309Z,1761365808.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:48.561Z,1761365808.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:48.700Z,1761365808.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508718,0.859326,-0.052571],[-0.859966,0.504306,-0.078319],[-0.040790,0.085051,0.995541]]
2025-10-25T04:16:48.738Z,1761365808.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:48.814Z,1761365808.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:49.065Z,1761365809.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:49.069Z,1761365809.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507077,0.860347,-0.051726],[-0.860910,0.502704,-0.078250],[-0.041319,0.084210,0.995591]]
2025-10-25T04:16:49.317Z,1761365809.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:49.472Z,1761365809.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504982,0.861574,-0.051794],[-0.862131,0.500604,-0.078265],[-0.041502,0.084176,0.995586]]
2025-10-25T04:16:49.570Z,1761365809.570 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:49.821Z,1761365809.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:49.870Z,1761365809.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502783,0.862776,-0.053178],[-0.863441,0.498349,-0.078225],[-0.040990,0.085246,0.995516]]
2025-10-25T04:16:50.074Z,1761365810.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:50.275Z,1761365810.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500926,0.863795,-0.054145],[-0.864541,0.496467,-0.078035],[-0.040526,0.085900,0.995479]]
2025-10-25T04:16:50.325Z,1761365810.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:50.577Z,1761365810.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:50.749Z,1761365810.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:50.830Z,1761365810.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:51.084Z,1761365811.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497075,0.865953,-0.055156],[-0.866836,0.492724,-0.076276],[-0.038875,0.085726,0.995560]]
2025-10-25T04:16:51.085Z,1761365811.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:51.337Z,1761365811.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:51.485Z,1761365811.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495198,0.866940,-0.056510],[-0.867951,0.490837,-0.075757],[-0.037940,0.086563,0.995524]]
2025-10-25T04:16:51.590Z,1761365811.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:51.841Z,1761365811.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:51.888Z,1761365811.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493642,0.867823,-0.056573],[-0.868880,0.489388,-0.074480],[-0.036949,0.085921,0.995617]]
2025-10-25T04:16:52.093Z,1761365812.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:52.299Z,1761365812.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492414,0.868447,-0.057690],[-0.869608,0.488148,-0.074123],[-0.036211,0.086667,0.995579]]
2025-10-25T04:16:52.345Z,1761365812.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:52.597Z,1761365812.597 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:52.740Z,1761365812.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491224,0.869070,-0.058454],[-0.870320,0.487000,-0.073316],[-0.035250,0.086888,0.995594]]
2025-10-25T04:16:52.793Z,1761365812.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:52.849Z,1761365812.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:53.102Z,1761365813.102 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:53.114Z,1761365813.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489944,0.869844,-0.057674],[-0.871084,0.485901,-0.071503],[-0.034173,0.085271,0.995772]]
2025-10-25T04:16:53.353Z,1761365813.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:53.505Z,1761365813.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489236,0.870244,-0.057650],[-0.871515,0.485284,-0.070437],[-0.033321,0.084703,0.995849]]
2025-10-25T04:16:53.606Z,1761365813.606 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:53.858Z,1761365813.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:53.909Z,1761365813.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488394,0.870748,-0.057170],[-0.872012,0.484552,-0.069314],[-0.032653,0.083706,0.995955]]
2025-10-25T04:16:54.110Z,1761365814.110 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:54.316Z,1761365814.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488045,0.870845,-0.058659],[-0.872234,0.484154,-0.069304],[-0.031953,0.084988,0.995870]]
2025-10-25T04:16:54.361Z,1761365814.361 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:54.613Z,1761365814.613 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:54.738Z,1761365814.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487584,0.871085,-0.058929],[-0.872508,0.483720,-0.068885],[-0.031499,0.085003,0.995883]]
2025-10-25T04:16:54.809Z,1761365814.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:54.866Z,1761365814.866 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:55.118Z,1761365815.118 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:55.369Z,1761365815.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:55.526Z,1761365815.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487326,0.871243,-0.058732],[-0.872687,0.483578,-0.067596],[-0.030490,0.084196,0.995983]]
2025-10-25T04:16:55.621Z,1761365815.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:55.874Z,1761365815.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:55.929Z,1761365815.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486865,0.871484,-0.058977],[-0.872966,0.483162,-0.066967],[-0.029866,0.084089,0.996011]]
2025-10-25T04:16:56.125Z,1761365816.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:56.333Z,1761365816.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486436,0.871791,-0.057977],[-0.873229,0.482877,-0.065578],[-0.029174,0.082527,0.996162]]
2025-10-25T04:16:56.379Z,1761365816.379 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:56.629Z,1761365816.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:56.836Z,1761365816.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:56.882Z,1761365816.882 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:57.133Z,1761365817.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:57.145Z,1761365817.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485149,0.872429,-0.059138],[-0.873990,0.481645,-0.064492],[-0.027781,0.082975,0.996164]]
2025-10-25T04:16:57.385Z,1761365817.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:57.545Z,1761365817.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484380,0.872801,-0.059959],[-0.874434,0.480872,-0.064243],[-0.027239,0.083549,0.996131]]
2025-10-25T04:16:57.637Z,1761365817.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:57.890Z,1761365817.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:57.971Z,1761365817.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483450,0.873241,-0.061044],[-0.874969,0.479936,-0.063954],[-0.026550,0.084330,0.996084]]
2025-10-25T04:16:58.145Z,1761365818.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:58.354Z,1761365818.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481653,0.874164,-0.062026],[-0.875990,0.478179,-0.063139],[-0.025535,0.084745,0.996075]]
2025-10-25T04:16:58.398Z,1761365818.398 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:58.649Z,1761365818.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:58.755Z,1761365818.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480027,0.875112,-0.061259],[-0.876912,0.476719,-0.061359],[-0.024492,0.083173,0.996234]]
2025-10-25T04:16:58.904Z,1761365818.904 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:59.154Z,1761365819.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:59.172Z,1761365819.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478205,0.876060,-0.061949],[-0.877936,0.474964,-0.060322],[-0.023423,0.083233,0.996255]]
2025-10-25T04:16:59.234Z,1761365819.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:16:59.406Z,1761365819.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:59.568Z,1761365819.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476024,0.877159,-0.063191],[-0.879148,0.472812,-0.059565],[-0.022371,0.083909,0.996222]]
2025-10-25T04:16:59.658Z,1761365819.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:59.909Z,1761365819.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:16:59.975Z,1761365819.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473333,0.878595,-0.063456],[-0.880627,0.470227,-0.058171],[-0.021269,0.083415,0.996288]]
2025-10-25T04:17:00.161Z,1761365820.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:00.371Z,1761365820.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470708,0.879903,-0.064846],[-0.882060,0.467638,-0.057316],[-0.020108,0.084177,0.996248]]
2025-10-25T04:17:00.413Z,1761365820.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:00.665Z,1761365820.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:00.780Z,1761365820.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467471,0.881535,-0.066081],[-0.883817,0.464504,-0.055709],[-0.018415,0.084446,0.996258]]
2025-10-25T04:17:00.918Z,1761365820.918 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:01.169Z,1761365821.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:01.189Z,1761365821.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464084,0.883176,-0.068013],[-0.885640,0.461218,-0.054033],[-0.016352,0.085311,0.996220]]
2025-10-25T04:17:01.248Z,1761365821.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:01.423Z,1761365821.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:01.585Z,1761365821.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460918,0.884649,-0.070360],[-0.887333,0.458164,-0.052211],[-0.013952,0.086498,0.996154]]
2025-10-25T04:17:01.674Z,1761365821.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:01.925Z,1761365821.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:01.988Z,1761365821.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457788,0.886128,-0.072160],[-0.888990,0.455211,-0.049794],[-0.011275,0.086945,0.996149]]
2025-10-25T04:17:02.179Z,1761365822.179 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:02.395Z,1761365822.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454790,0.887506,-0.074156],[-0.890557,0.452385,-0.047493],[-0.008603,0.087640,0.996115]]
2025-10-25T04:17:02.429Z,1761365822.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:02.681Z,1761365822.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:02.799Z,1761365822.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451529,0.889104,-0.074941],[-0.892238,0.449377,-0.044406],[-0.005804,0.086915,0.996199]]
2025-10-25T04:17:02.934Z,1761365822.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:03.185Z,1761365823.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:03.204Z,1761365823.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448731,0.890430,-0.075994],[-0.893662,0.446831,-0.041346],[-0.002860,0.086466,0.996251]]
2025-10-25T04:17:03.254Z,1761365823.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:03.437Z,1761365823.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:03.605Z,1761365823.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446362,0.891520,-0.077158],[-0.894852,0.444703,-0.038446],[0.000037,0.086206,0.996277]]
2025-10-25T04:17:03.690Z,1761365823.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:03.943Z,1761365823.943 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:04.014Z,1761365824.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444221,0.892532,-0.077812],[-0.895913,0.442807,-0.035523],[0.002750,0.085492,0.996335]]
2025-10-25T04:17:04.193Z,1761365824.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:04.412Z,1761365824.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442730,0.893180,-0.078871],[-0.896640,0.441512,-0.033221],[0.005151,0.085427,0.996331]]
2025-10-25T04:17:04.445Z,1761365824.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:04.697Z,1761365824.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:04.831Z,1761365824.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441476,0.893690,-0.080112],[-0.897241,0.440451,-0.030997],[0.007584,0.085565,0.996304]]
2025-10-25T04:17:04.949Z,1761365824.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:05.201Z,1761365825.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:05.299Z,1761365825.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:05.453Z,1761365825.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:05.627Z,1761365825.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439178,0.894688,-0.081587],[-0.898313,0.438586,-0.026007],[0.012514,0.084712,0.996327]]
2025-10-25T04:17:05.706Z,1761365825.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:05.959Z,1761365825.959 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:06.029Z,1761365826.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437886,0.895276,-0.082080],[-0.898909,0.437498,-0.023620],[0.014764,0.084125,0.996346]]
2025-10-25T04:17:06.127Z,1761365826.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:17:06.211Z,1761365826.211 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:06.439Z,1761365826.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436803,0.895838,-0.081717],[-0.899368,0.436767,-0.019270],[0.018428,0.081911,0.996469]]
2025-10-25T04:17:06.461Z,1761365826.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:06.713Z,1761365826.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:06.843Z,1761365826.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436277,0.896036,-0.082353],[-0.899588,0.436384,-0.017649],[0.020123,0.081783,0.996447]]
2025-10-25T04:17:06.968Z,1761365826.968 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:07.129Z,1761365827.129 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:17:07.221Z,1761365827.221 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:07.317Z,1761365827.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:07.469Z,1761365827.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:07.644Z,1761365827.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435123,0.896455,-0.083882],[-0.900078,0.435466,-0.015134],[0.022961,0.082085,0.996361]]
2025-10-25T04:17:07.722Z,1761365827.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:07.980Z,1761365827.980 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:08.049Z,1761365828.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434072,0.896990,-0.083608],[-0.900554,0.434534,-0.013546],[0.024180,0.081173,0.996407]]
2025-10-25T04:17:08.230Z,1761365828.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:08.454Z,1761365828.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432740,0.897562,-0.084373],[-0.901154,0.433329,-0.012154],[0.025652,0.081292,0.996360]]
2025-10-25T04:17:08.481Z,1761365828.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:08.733Z,1761365828.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:08.857Z,1761365828.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431535,0.898082,-0.085005],[-0.901697,0.432227,-0.011043],[0.026824,0.081415,0.996319]]
2025-10-25T04:17:08.989Z,1761365828.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:09.237Z,1761365829.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:09.265Z,1761365829.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429931,0.898855,-0.084967],[-0.902428,0.430735,-0.009569],[0.027997,0.080790,0.996338]]
2025-10-25T04:17:09.354Z,1761365829.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:09.490Z,1761365829.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:09.667Z,1761365829.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428089,0.899707,-0.085250],[-0.903268,0.428997,-0.008299],[0.029106,0.080556,0.996325]]
2025-10-25T04:17:09.741Z,1761365829.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:09.995Z,1761365829.995 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:10.068Z,1761365830.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425868,0.900722,-0.085654],[-0.904281,0.426881,-0.007043],[0.030220,0.080455,0.996300]]
2025-10-25T04:17:10.245Z,1761365830.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:10.477Z,1761365830.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423047,0.902011,-0.086065],[-0.905545,0.424219,-0.005077],[0.031931,0.080084,0.996277]]
2025-10-25T04:17:10.497Z,1761365830.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:10.749Z,1761365830.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:10.878Z,1761365830.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420122,0.903266,-0.087220],[-0.906852,0.421433,-0.003695],[0.033420,0.080648,0.996182]]
2025-10-25T04:17:11.003Z,1761365831.003 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:11.253Z,1761365831.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:11.295Z,1761365831.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417698,0.904347,-0.087660],[-0.907919,0.419139,-0.002155],[0.034793,0.080489,0.996148]]
2025-10-25T04:17:11.362Z,1761365831.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:11.506Z,1761365831.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:11.685Z,1761365831.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414616,0.905648,-0.088854],[-0.909272,0.416201,-0.000765],[0.036288,0.081110,0.996044]]
2025-10-25T04:17:11.758Z,1761365831.758 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:12.011Z,1761365832.011 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:12.090Z,1761365832.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411741,0.906858,-0.089879],[-0.910516,0.413474,0.000721],[0.037817,0.081540,0.995952]]
2025-10-25T04:17:12.261Z,1761365832.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:12.496Z,1761365832.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408401,0.908249,-0.091061],[-0.911946,0.410303,0.002391],[0.039534,0.082066,0.995842]]
2025-10-25T04:17:12.513Z,1761365832.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:12.765Z,1761365832.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:12.897Z,1761365832.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405234,0.909561,-0.092109],[-0.913284,0.407303,0.004051],[0.041201,0.082480,0.995741]]
2025-10-25T04:17:13.019Z,1761365833.019 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:13.270Z,1761365833.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:13.305Z,1761365833.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402562,0.910682,-0.092748],[-0.914403,0.404767,0.005491],[0.042541,0.082598,0.995675]]
2025-10-25T04:17:13.521Z,1761365833.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:13.705Z,1761365833.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400092,0.911586,-0.094539],[-0.915427,0.402434,0.006326],[0.043812,0.084012,0.995501]]
2025-10-25T04:17:13.724Z,1761365833.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:13.774Z,1761365833.774 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:14.025Z,1761365834.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:14.114Z,1761365834.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396988,0.912866,-0.095272],[-0.916712,0.399473,0.007788],[0.045168,0.084245,0.995421]]
2025-10-25T04:17:14.278Z,1761365834.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:14.512Z,1761365834.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394156,0.914104,-0.095158],[-0.917866,0.396775,0.009578],[0.046512,0.083567,0.995416]]
2025-10-25T04:17:14.529Z,1761365834.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:14.781Z,1761365834.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:14.917Z,1761365834.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391175,0.915335,-0.095623],[-0.919069,0.393938,0.011172],[0.047895,0.083514,0.995355]]
2025-10-25T04:17:15.036Z,1761365835.036 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:15.286Z,1761365835.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:15.319Z,1761365835.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388126,0.916643,-0.095512],[-0.920301,0.391004,0.012750],[0.049033,0.082951,0.995347]]
2025-10-25T04:17:15.537Z,1761365835.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:15.725Z,1761365835.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385249,0.917805,-0.096008],[-0.921453,0.388239,0.013941],[0.050069,0.083096,0.995283]]
2025-10-25T04:17:15.759Z,1761365835.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:15.807Z,1761365835.807 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:16.059Z,1761365836.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:16.138Z,1761365836.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382422,0.918985,-0.096021],[-0.922588,0.385493,0.015050],[0.050846,0.082832,0.995266]]
2025-10-25T04:17:16.309Z,1761365836.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:16.535Z,1761365836.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379865,0.919914,-0.097265],[-0.923598,0.383042,0.015663],[0.051665,0.083884,0.995135]]
2025-10-25T04:17:16.561Z,1761365836.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:16.813Z,1761365836.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:16.936Z,1761365836.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376773,0.921102,-0.098049],[-0.924815,0.380056,0.016568],[0.052525,0.084435,0.995044]]
2025-10-25T04:17:17.067Z,1761365837.067 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:17.317Z,1761365837.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:17.340Z,1761365837.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373912,0.922195,-0.098725],[-0.925938,0.377280,0.017284],[0.053186,0.084951,0.994965]]
2025-10-25T04:17:17.569Z,1761365837.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:17.758Z,1761365837.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371258,0.923339,-0.098039],[-0.926984,0.374658,0.018218],[0.053552,0.084117,0.995016]]
2025-10-25T04:17:17.793Z,1761365837.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:17.821Z,1761365837.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:18.075Z,1761365838.075 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:18.173Z,1761365838.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368627,0.924401,-0.097969],[-0.928026,0.372049,0.018652],[0.053691,0.084042,0.995015]]
2025-10-25T04:17:18.325Z,1761365838.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:18.577Z,1761365838.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:18.829Z,1761365838.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:18.969Z,1761365838.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363584,0.926405,-0.097884],[-0.930045,0.366977,0.018585],[0.053138,0.084279,0.995024]]
2025-10-25T04:17:19.082Z,1761365839.082 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:19.334Z,1761365839.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:19.371Z,1761365839.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361731,0.927140,-0.097788],[-0.930805,0.365069,0.018088],[0.052469,0.084478,0.995043]]
2025-10-25T04:17:19.586Z,1761365839.586 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:19.778Z,1761365839.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359479,0.928028,-0.097670],[-0.931721,0.362752,0.017503],[0.051674,0.084709,0.995065]]
2025-10-25T04:17:19.801Z,1761365839.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:19.837Z,1761365839.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:20.090Z,1761365840.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:20.200Z,1761365840.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357096,0.928997,-0.097198],[-0.932667,0.360321,0.017336],[0.051128,0.084463,0.995114]]
2025-10-25T04:17:20.345Z,1761365840.345 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:20.585Z,1761365840.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355055,0.929918,-0.095859],[-0.933489,0.358193,0.017218],[0.050347,0.083370,0.995246]]
2025-10-25T04:17:20.598Z,1761365840.598 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:20.849Z,1761365840.849 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:20.988Z,1761365840.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352971,0.930795,-0.095038],[-0.934320,0.356035,0.016915],[0.049582,0.082825,0.995330]]
2025-10-25T04:17:21.104Z,1761365841.104 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:21.353Z,1761365841.353 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:21.606Z,1761365841.606 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:21.801Z,1761365841.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349674,0.932152,-0.093921],[-0.935654,0.352569,0.015696],[0.047745,0.082389,0.995456]]
2025-10-25T04:17:21.822Z,1761365841.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:21.858Z,1761365841.858 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:22.109Z,1761365842.109 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:22.230Z,1761365842.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346179,0.933306,-0.095397],[-0.937023,0.348988,0.013992],[0.046351,0.084545,0.995341]]
2025-10-25T04:17:22.362Z,1761365842.362 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:22.615Z,1761365842.615 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:22.866Z,1761365842.866 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:23.018Z,1761365843.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343770,0.934407,-0.093298],[-0.938010,0.346373,0.012793],[0.044270,0.083117,0.995556]]
2025-10-25T04:17:23.117Z,1761365843.117 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:23.369Z,1761365843.369 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:23.420Z,1761365843.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342438,0.934972,-0.092534],[-0.938538,0.344957,0.012251],[0.043374,0.082651,0.995634]]
2025-10-25T04:17:23.621Z,1761365843.621 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:23.817Z,1761365843.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340855,0.935592,-0.092116],[-0.939153,0.343301,0.011664],[0.042536,0.082535,0.995680]]
2025-10-25T04:17:23.847Z,1761365843.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:23.874Z,1761365843.874 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:24.125Z,1761365844.125 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:24.254Z,1761365844.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338893,0.936206,-0.093111],[-0.939903,0.341280,0.010545],[0.041649,0.083942,0.995600]]
2025-10-25T04:17:24.377Z,1761365844.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:24.629Z,1761365844.629 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:24.633Z,1761365844.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336806,0.936943,-0.093267],[-0.940674,0.339159,0.010164],[0.041156,0.084311,0.995589]]
2025-10-25T04:17:24.881Z,1761365844.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:25.028Z,1761365845.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334451,0.937778,-0.093357],[-0.941536,0.336769,0.009820],[0.040649,0.084615,0.995584]]
2025-10-25T04:17:25.133Z,1761365845.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:25.385Z,1761365845.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:25.433Z,1761365845.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332381,0.938503,-0.093463],[-0.942300,0.334643,0.009204],[0.039914,0.085011,0.995580]]
2025-10-25T04:17:25.638Z,1761365845.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:25.838Z,1761365845.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329728,0.939449,-0.093354],[-0.943250,0.331959,0.009033],[0.039476,0.085078,0.995592]]
2025-10-25T04:17:25.855Z,1761365845.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:25.890Z,1761365845.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:26.141Z,1761365846.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:26.282Z,1761365846.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326975,0.940345,-0.094011],[-0.944222,0.329195,0.008718],[0.039146,0.085917,0.995533]]
2025-10-25T04:17:26.394Z,1761365846.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:26.647Z,1761365846.647 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:26.659Z,1761365846.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324447,0.941231,-0.093905],[-0.945113,0.326633,0.008500],[0.038673,0.085993,0.995545]]
2025-10-25T04:17:26.897Z,1761365846.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:27.050Z,1761365847.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321674,0.942164,-0.094095],[-0.946076,0.323838,0.008291],[0.038283,0.086354,0.995529]]
2025-10-25T04:17:27.149Z,1761365847.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:27.401Z,1761365847.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:27.455Z,1761365847.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318930,0.943060,-0.094452],[-0.947025,0.321062,0.007889],[0.037764,0.086932,0.995498]]
2025-10-25T04:17:27.658Z,1761365847.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:27.856Z,1761365847.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316127,0.943942,-0.095065],[-0.947981,0.318237,0.007517],[0.037349,0.087744,0.995443]]
2025-10-25T04:17:27.882Z,1761365847.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:27.909Z,1761365847.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:28.161Z,1761365848.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:28.306Z,1761365848.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313504,0.944757,-0.095655],[-0.948870,0.315587,0.007095],[0.036890,0.088539,0.995389]]
2025-10-25T04:17:28.413Z,1761365848.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:28.665Z,1761365848.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:28.668Z,1761365848.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310794,0.945624,-0.095932],[-0.949784,0.312836,0.006651],[0.036300,0.089047,0.995366]]
2025-10-25T04:17:28.917Z,1761365848.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:29.071Z,1761365849.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308327,0.946451,-0.095734],[-0.950602,0.310342,0.006557],[0.035916,0.088983,0.995385]]
2025-10-25T04:17:29.170Z,1761365849.170 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:29.421Z,1761365849.421 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:29.474Z,1761365849.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306310,0.947137,-0.095418],[-0.951271,0.308290,0.006375],[0.035454,0.088815,0.995417]]
2025-10-25T04:17:29.674Z,1761365849.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:29.877Z,1761365849.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304414,0.947745,-0.095455],[-0.951910,0.306326,0.005698],[0.034641,0.089130,0.995417]]
2025-10-25T04:17:29.894Z,1761365849.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:29.925Z,1761365849.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:30.177Z,1761365850.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:30.338Z,1761365850.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302246,0.948446,-0.095385],[-0.952624,0.304105,0.005252],[0.033988,0.089279,0.995427]]
2025-10-25T04:17:30.429Z,1761365850.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:30.681Z,1761365850.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:30.688Z,1761365850.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300241,0.949081,-0.095394],[-0.953280,0.302051,0.004793],[0.033363,0.089498,0.995428]]
2025-10-25T04:17:30.933Z,1761365850.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:31.088Z,1761365851.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298938,0.949495,-0.095366],[-0.953712,0.300691,0.004234],[0.032696,0.089686,0.995433]]
2025-10-25T04:17:31.185Z,1761365851.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:31.437Z,1761365851.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:31.693Z,1761365851.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:31.904Z,1761365851.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295815,0.950472,-0.095370],[-0.954731,0.297456,0.003139],[0.031352,0.090124,0.995437]]
2025-10-25T04:17:31.922Z,1761365851.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:31.949Z,1761365851.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:32.201Z,1761365852.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:32.324Z,1761365852.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294255,0.950944,-0.095496],[-0.955230,0.295852,0.002691],[0.030811,0.090429,0.995426]]
2025-10-25T04:17:32.453Z,1761365852.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:32.705Z,1761365852.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:32.708Z,1761365852.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292574,0.951445,-0.095671],[-0.955757,0.294147,0.002449],[0.030471,0.090722,0.995410]]
2025-10-25T04:17:32.958Z,1761365852.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:33.113Z,1761365853.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290920,0.951981,-0.095387],[-0.956277,0.292454,0.002208],[0.029998,0.090574,0.995438]]
2025-10-25T04:17:33.209Z,1761365853.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:33.461Z,1761365853.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:33.515Z,1761365853.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288888,0.952589,-0.095488],[-0.956899,0.290412,0.002163],[0.029791,0.090748,0.995428]]
2025-10-25T04:17:33.715Z,1761365853.715 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:33.917Z,1761365853.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287179,0.953125,-0.095290],[-0.957419,0.288692,0.002197],[0.029604,0.090601,0.995447]]
2025-10-25T04:17:33.943Z,1761365853.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:33.965Z,1761365853.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:34.218Z,1761365854.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:34.326Z,1761365854.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285185,0.953757,-0.094955],[-0.958018,0.286696,0.002383],[0.029496,0.090289,0.995479]]
2025-10-25T04:17:34.475Z,1761365854.475 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:34.723Z,1761365854.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282980,0.954414,-0.094952],[-0.958670,0.284508,0.002675],[0.029568,0.090271,0.995478]]
2025-10-25T04:17:34.730Z,1761365854.730 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:34.981Z,1761365854.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:35.144Z,1761365855.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280292,0.955238,-0.094644],[-0.959456,0.281840,0.003130],[0.029664,0.089930,0.995506]]
2025-10-25T04:17:35.233Z,1761365855.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:35.485Z,1761365855.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:35.533Z,1761365855.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278031,0.955898,-0.094647],[-0.960111,0.279598,0.003452],[0.029763,0.089912,0.995505]]
2025-10-25T04:17:35.737Z,1761365855.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:35.936Z,1761365855.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275384,0.956619,-0.095097],[-0.960870,0.276974,0.003687],[0.029867,0.090361,0.995461]]
2025-10-25T04:17:35.959Z,1761365855.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:35.990Z,1761365855.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:36.241Z,1761365856.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:36.346Z,1761365856.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272871,0.957349,-0.094990],[-0.961583,0.274482,0.004073],[0.029972,0.090230,0.995470]]
2025-10-25T04:17:36.494Z,1761365856.494 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:36.743Z,1761365856.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270694,0.957974,-0.094923],[-0.962199,0.272315,0.004309],[0.029977,0.090169,0.995475]]
2025-10-25T04:17:36.745Z,1761365856.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:36.997Z,1761365856.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:37.149Z,1761365857.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268750,0.958478,-0.095362],[-0.962743,0.270382,0.004380],[0.029983,0.090631,0.995433]]
2025-10-25T04:17:37.254Z,1761365857.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:37.257Z,1761365857.257 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:17:37.507Z,1761365857.507 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:37.554Z,1761365857.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266447,0.959134,-0.095230],[-0.963383,0.268088,0.004642],[0.029982,0.090506,0.995445]]
2025-10-25T04:17:37.757Z,1761365857.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:37.986Z,1761365857.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263895,0.959779,-0.095833],[-0.964082,0.265561,0.004843],[0.030098,0.091113,0.995386]]
2025-10-25T04:17:38.010Z,1761365858.010 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:38.021Z,1761365858.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:38.261Z,1761365858.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:38.264Z,1761365858.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:17:38.360Z,1761365858.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261838,0.960324,-0.096012],[-0.964643,0.263513,0.004980],[0.030083,0.091313,0.995368]]
2025-10-25T04:17:38.513Z,1761365858.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:38.765Z,1761365858.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:38.769Z,1761365858.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260057,0.960759,-0.096505],[-0.965126,0.261737,0.004960],[0.030024,0.091850,0.995320]]
2025-10-25T04:17:39.017Z,1761365859.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:39.270Z,1761365859.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:39.522Z,1761365859.522 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:39.575Z,1761365859.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256331,0.961720,-0.096897],[-0.966120,0.258040,0.005329],[0.030128,0.092248,0.995280]]
2025-10-25T04:17:39.777Z,1761365859.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:40.028Z,1761365860.028 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:40.278Z,1761365860.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:40.385Z,1761365860.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252832,0.962358,-0.099714],[-0.967049,0.254549,0.004670],[0.029877,0.095248,0.995005]]
2025-10-25T04:17:40.428Z,1761365860.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:40.530Z,1761365860.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:40.782Z,1761365860.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:40.797Z,1761365860.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251510,0.962715,-0.099615],[-0.967398,0.253219,0.004693],[0.029742,0.095187,0.995015]]
2025-10-25T04:17:41.033Z,1761365861.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:41.193Z,1761365861.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250155,0.963058,-0.099706],[-0.967748,0.251875,0.004838],[0.029773,0.095279,0.995005]]
2025-10-25T04:17:41.286Z,1761365861.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:41.537Z,1761365861.537 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:41.593Z,1761365861.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249347,0.963291,-0.099479],[-0.967962,0.251052,0.004810],[0.029608,0.095093,0.995028]]
2025-10-25T04:17:41.791Z,1761365861.791 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:41.996Z,1761365861.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248177,0.963585,-0.099563],[-0.968258,0.249903,0.005053],[0.029750,0.095148,0.995018]]
2025-10-25T04:17:42.042Z,1761365862.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:42.294Z,1761365862.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:42.401Z,1761365862.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247166,0.963852,-0.099494],[-0.968520,0.248885,0.005053],[0.029633,0.095113,0.995025]]
2025-10-25T04:17:42.545Z,1761365862.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:42.797Z,1761365862.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:42.804Z,1761365862.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246008,0.964139,-0.099582],[-0.968816,0.247727,0.005087],[0.029574,0.095225,0.995016]]
2025-10-25T04:17:42.856Z,1761365862.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:43.049Z,1761365863.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:43.208Z,1761365863.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245146,0.964364,-0.099527],[-0.969037,0.246862,0.005107],[0.029495,0.095193,0.995022]]
2025-10-25T04:17:43.302Z,1761365863.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:43.553Z,1761365863.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:43.613Z,1761365863.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244159,0.964573,-0.099928],[-0.969293,0.245860,0.004887],[0.029282,0.095666,0.994983]]
2025-10-25T04:17:43.805Z,1761365863.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:44.018Z,1761365864.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243371,0.964728,-0.100351],[-0.969497,0.245059,0.004659],[0.029087,0.096156,0.994941]]
2025-10-25T04:17:44.058Z,1761365864.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:44.309Z,1761365864.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:44.420Z,1761365864.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242246,0.964960,-0.100842],[-0.969781,0.243936,0.004593],[0.029031,0.096682,0.994892]]
2025-10-25T04:17:44.561Z,1761365864.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:44.814Z,1761365864.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:44.824Z,1761365864.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241159,0.965236,-0.100802],[-0.970049,0.242862,0.004789],[0.029103,0.096628,0.994895]]
2025-10-25T04:17:44.888Z,1761365864.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:45.065Z,1761365865.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:45.229Z,1761365865.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240326,0.965444,-0.100803],[-0.970262,0.242011,0.004647],[0.028882,0.096689,0.994896]]
2025-10-25T04:17:45.318Z,1761365865.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:45.569Z,1761365865.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:45.821Z,1761365865.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:46.039Z,1761365866.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238191,0.965932,-0.101193],[-0.970794,0.239870,0.004588],[0.028705,0.097145,0.994856]]
2025-10-25T04:17:46.074Z,1761365866.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:46.325Z,1761365866.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:46.441Z,1761365866.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237312,0.966191,-0.100782],[-0.971015,0.238973,0.004566],[0.028496,0.096778,0.994898]]
2025-10-25T04:17:46.578Z,1761365866.578 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:46.829Z,1761365866.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:46.909Z,1761365866.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:47.081Z,1761365867.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:47.250Z,1761365867.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235507,0.966622,-0.100891],[-0.971455,0.237175,0.004705],[0.028476,0.096904,0.994886]]
2025-10-25T04:17:47.335Z,1761365867.335 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:47.585Z,1761365867.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:47.654Z,1761365867.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235148,0.966697,-0.101004],[-0.971542,0.236820,0.004726],[0.028488,0.097018,0.994875]]
2025-10-25T04:17:47.838Z,1761365867.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:48.057Z,1761365868.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234394,0.966927,-0.100555],[-0.971727,0.236058,0.004813],[0.028391,0.096584,0.994920]]
2025-10-25T04:17:48.090Z,1761365868.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:48.341Z,1761365868.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:48.465Z,1761365868.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234209,0.966991,-0.100369],[-0.971778,0.235853,0.004665],[0.028184,0.096444,0.994939]]
2025-10-25T04:17:48.595Z,1761365868.595 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:48.845Z,1761365868.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:48.863Z,1761365868.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233829,0.967080,-0.100406],[-0.971872,0.235465,0.004600],[0.028091,0.096506,0.994936]]
2025-10-25T04:17:48.927Z,1761365868.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:49.097Z,1761365869.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:49.274Z,1761365869.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233125,0.967190,-0.100979],[-0.972042,0.234763,0.004489],[0.028048,0.097110,0.994878]]
2025-10-25T04:17:49.349Z,1761365869.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:49.603Z,1761365869.603 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:49.674Z,1761365869.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232424,0.967363,-0.100936],[-0.972210,0.234065,0.004562],[0.028038,0.097071,0.994882]]
2025-10-25T04:17:49.853Z,1761365869.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:50.078Z,1761365870.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231375,0.967609,-0.100983],[-0.972459,0.233028,0.004729],[0.028107,0.097108,0.994877]]
2025-10-25T04:17:50.106Z,1761365870.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:50.358Z,1761365870.358 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:50.481Z,1761365870.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230466,0.967815,-0.101089],[-0.972673,0.232130,0.004859],[0.028169,0.097207,0.994866]]
2025-10-25T04:17:50.611Z,1761365870.611 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:50.861Z,1761365870.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:50.885Z,1761365870.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229335,0.968046,-0.101448],[-0.972941,0.231003,0.004855],[0.028135,0.097589,0.994829]]
2025-10-25T04:17:50.949Z,1761365870.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:51.114Z,1761365871.114 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:51.298Z,1761365871.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228281,0.968284,-0.101560],[-0.973189,0.229956,0.004941],[0.028139,0.097709,0.994817]]
2025-10-25T04:17:51.365Z,1761365871.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:51.619Z,1761365871.619 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:51.695Z,1761365871.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227282,0.968510,-0.101639],[-0.973426,0.228951,0.004908],[0.028024,0.097823,0.994809]]
2025-10-25T04:17:51.869Z,1761365871.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:52.096Z,1761365872.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226431,0.968678,-0.101939],[-0.973623,0.228110,0.004979],[0.028076,0.098123,0.994778]]
2025-10-25T04:17:52.122Z,1761365872.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:52.374Z,1761365872.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:52.500Z,1761365872.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225409,0.968946,-0.101659],[-0.973862,0.227083,0.005063],[0.027991,0.097861,0.994806]]
2025-10-25T04:17:52.627Z,1761365872.627 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:52.877Z,1761365872.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:52.904Z,1761365872.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224081,0.969238,-0.101808],[-0.974166,0.225771,0.005245],[0.028069,0.098003,0.994790]]
2025-10-25T04:17:52.967Z,1761365872.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:53.129Z,1761365873.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:53.329Z,1761365873.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223146,0.969510,-0.101270],[-0.974383,0.224829,0.005375],[0.027979,0.097477,0.994844]]
2025-10-25T04:17:53.381Z,1761365873.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:53.633Z,1761365873.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:53.731Z,1761365873.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221671,0.969879,-0.100977],[-0.974716,0.223373,0.005727],[0.028110,0.097155,0.994872]]
2025-10-25T04:17:53.885Z,1761365873.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:54.123Z,1761365874.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220443,0.970162,-0.100945],[-0.974992,0.222162,0.005967],[0.028215,0.097105,0.994874]]
2025-10-25T04:17:54.145Z,1761365874.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:54.397Z,1761365874.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:54.520Z,1761365874.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219286,0.970455,-0.100653],[-0.975254,0.221004,0.006114],[0.028178,0.096821,0.994903]]
2025-10-25T04:17:54.652Z,1761365874.652 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:54.901Z,1761365874.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:54.924Z,1761365874.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218282,0.970674,-0.100723],[-0.975478,0.220008,0.006226],[0.028204,0.096894,0.994895]]
2025-10-25T04:17:54.970Z,1761365874.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:55.153Z,1761365875.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:55.328Z,1761365875.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216925,0.970987,-0.100636],[-0.975782,0.218652,0.006328],[0.028149,0.096826,0.994903]]
2025-10-25T04:17:55.407Z,1761365875.407 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:55.657Z,1761365875.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:55.750Z,1761365875.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215590,0.971257,-0.100897],[-0.976078,0.217325,0.006404],[0.028147,0.097103,0.994876]]
2025-10-25T04:17:55.909Z,1761365875.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:56.152Z,1761365876.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214501,0.971558,-0.100322],[-0.976328,0.216205,0.006310],[0.027820,0.096593,0.994935]]
2025-10-25T04:17:56.165Z,1761365876.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:56.413Z,1761365876.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:56.550Z,1761365876.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213269,0.971840,-0.100221],[-0.976599,0.214972,0.006388],[0.027753,0.096514,0.994945]]
2025-10-25T04:17:56.665Z,1761365876.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:56.917Z,1761365876.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:56.963Z,1761365876.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211067,0.972393,-0.099511],[-0.977088,0.212741,0.006405],[0.027398,0.095879,0.995016]]
2025-10-25T04:17:57.001Z,1761365877.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:57.169Z,1761365877.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:57.361Z,1761365877.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210091,0.972594,-0.099612],[-0.977301,0.211761,0.006379],[0.027299,0.096011,0.995006]]
2025-10-25T04:17:57.422Z,1761365877.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:57.674Z,1761365877.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:57.777Z,1761365877.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209248,0.972840,-0.098980],[-0.977485,0.210905,0.006461],[0.027161,0.095400,0.995068]]
2025-10-25T04:17:57.926Z,1761365877.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:58.167Z,1761365878.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208225,0.973043,-0.099142],[-0.977704,0.209887,0.006519],[0.027151,0.095574,0.995052]]
2025-10-25T04:17:58.178Z,1761365878.178 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:58.429Z,1761365878.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:58.568Z,1761365878.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207545,0.973203,-0.098997],[-0.977851,0.209201,0.006534],[0.027069,0.095448,0.995066]]
2025-10-25T04:17:58.684Z,1761365878.684 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:58.936Z,1761365878.936 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:58.976Z,1761365878.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206786,0.973375,-0.098900],[-0.978012,0.208443,0.006617],[0.027056,0.095357,0.995075]]
2025-10-25T04:17:59.025Z,1761365879.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:17:59.187Z,1761365879.187 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:59.376Z,1761365879.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206536,0.973371,-0.099454],[-0.978067,0.208192,0.006462],[0.026995,0.095938,0.995021]]
2025-10-25T04:17:59.440Z,1761365879.440 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:59.690Z,1761365879.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:17:59.805Z,1761365879.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205820,0.973519,-0.099494],[-0.978221,0.207467,0.006379],[0.026852,0.096014,0.995018]]
2025-10-25T04:17:59.942Z,1761365879.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:00.186Z,1761365880.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205603,0.973525,-0.099883],[-0.978272,0.207236,0.006151],[0.026687,0.096448,0.994980]]
2025-10-25T04:18:00.193Z,1761365880.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:00.445Z,1761365880.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:00.590Z,1761365880.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205177,0.973635,-0.099684],[-0.978372,0.206772,0.005826],[0.026284,0.096333,0.995002]]
2025-10-25T04:18:00.697Z,1761365880.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:00.949Z,1761365880.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:01.049Z,1761365881.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:01.202Z,1761365881.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:01.453Z,1761365881.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:01.706Z,1761365881.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:01.958Z,1761365881.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:02.206Z,1761365882.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204070,0.973860,-0.099760],[-0.978693,0.205317,0.002293],[0.022716,0.097167,0.995009]]
2025-10-25T04:18:02.209Z,1761365882.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:02.461Z,1761365882.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:02.609Z,1761365882.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203602,0.973956,-0.099776],[-0.978805,0.204790,0.001703],[0.022091,0.097314,0.995008]]
2025-10-25T04:18:02.713Z,1761365882.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:02.965Z,1761365882.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:03.012Z,1761365883.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203547,0.974024,-0.099231],[-0.978843,0.204612,0.000569],[0.020858,0.097016,0.995064]]
2025-10-25T04:18:03.063Z,1761365883.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:03.218Z,1761365883.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:03.417Z,1761365883.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203251,0.974049,-0.099586],[-0.978926,0.204217,-0.000510],[0.019840,0.097591,0.995029]]
2025-10-25T04:18:03.470Z,1761365883.470 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:03.722Z,1761365883.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:03.860Z,1761365883.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203182,0.974060,-0.099620],[-0.978961,0.204041,-0.001597],[0.018771,0.097849,0.995024]]
2025-10-25T04:18:03.974Z,1761365883.974 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:04.225Z,1761365884.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:04.229Z,1761365884.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202844,0.974129,-0.099638],[-0.979049,0.203608,-0.002550],[0.017803,0.098068,0.995021]]
2025-10-25T04:18:04.477Z,1761365884.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:04.629Z,1761365884.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202456,0.974239,-0.099349],[-0.979146,0.203127,-0.003419],[0.016849,0.097969,0.995047]]
2025-10-25T04:18:04.729Z,1761365884.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:04.981Z,1761365884.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:05.032Z,1761365885.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202435,0.974312,-0.098670],[-0.979171,0.202990,-0.004488],[0.015656,0.097524,0.995110]]
2025-10-25T04:18:05.089Z,1761365885.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:05.233Z,1761365885.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:05.437Z,1761365885.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202486,0.974342,-0.098272],[-0.979176,0.202939,-0.005465],[0.014618,0.097333,0.995145]]
2025-10-25T04:18:05.488Z,1761365885.488 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:05.737Z,1761365885.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:05.885Z,1761365885.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201700,0.974535,-0.097977],[-0.979352,0.202067,-0.006275],[0.013682,0.097219,0.995169]]
2025-10-25T04:18:05.990Z,1761365885.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:06.242Z,1761365886.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:06.248Z,1761365886.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201206,0.974690,-0.097445],[-0.979467,0.201479,-0.007136],[0.012678,0.096880,0.995215]]
2025-10-25T04:18:06.493Z,1761365886.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:06.745Z,1761365886.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:06.997Z,1761365886.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:07.052Z,1761365887.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199911,0.974963,-0.097382],[-0.979753,0.200020,-0.008739],[0.010958,0.097158,0.995209]]
2025-10-25T04:18:07.096Z,1761365887.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:07.249Z,1761365887.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:07.456Z,1761365887.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198990,0.975195,-0.096942],[-0.979948,0.199037,-0.009292],[0.010233,0.096847,0.995247]]
2025-10-25T04:18:07.501Z,1761365887.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:07.753Z,1761365887.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:07.910Z,1761365887.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198215,0.975345,-0.097017],[-0.980113,0.198189,-0.009999],[0.009475,0.097070,0.995233]]
2025-10-25T04:18:08.008Z,1761365888.008 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:08.257Z,1761365888.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:08.272Z,1761365888.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197377,0.975556,-0.096608],[-0.980288,0.197296,-0.010486],[0.008831,0.096773,0.995267]]
2025-10-25T04:18:08.381Z,1761365888.381 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:18:08.509Z,1761365888.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:08.673Z,1761365888.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196895,0.975626,-0.096885],[-0.980392,0.196735,-0.011306],[0.008031,0.097211,0.995231]]
2025-10-25T04:18:08.761Z,1761365888.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:09.013Z,1761365889.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:09.072Z,1761365889.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196663,0.975660,-0.097014],[-0.980445,0.196411,-0.012235],[0.007118,0.097523,0.995208]]
2025-10-25T04:18:09.135Z,1761365889.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:09.266Z,1761365889.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:09.385Z,1761365889.385 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:18:09.517Z,1761365889.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:09.769Z,1761365889.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:10.024Z,1761365890.024 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:10.275Z,1761365890.275 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:10.301Z,1761365890.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195502,0.975950,-0.096441],[-0.980689,0.195084,-0.013835],[0.005312,0.097283,0.995243]]
2025-10-25T04:18:10.525Z,1761365890.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:10.689Z,1761365890.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195020,0.976052,-0.096384],[-0.980788,0.194553,-0.014314],[0.004781,0.097324,0.995241]]
2025-10-25T04:18:10.778Z,1761365890.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:11.029Z,1761365891.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:11.093Z,1761365891.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194312,0.976212,-0.096193],[-0.980930,0.193809,-0.014633],[0.004358,0.097202,0.995255]]
2025-10-25T04:18:11.154Z,1761365891.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:11.283Z,1761365891.283 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:11.499Z,1761365891.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193761,0.976279,-0.096628],[-0.981041,0.193204,-0.015175],[0.003854,0.097736,0.995205]]
2025-10-25T04:18:11.533Z,1761365891.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:11.785Z,1761365891.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:12.037Z,1761365892.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:12.290Z,1761365892.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:12.317Z,1761365892.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192424,0.976535,-0.096706],[-0.981307,0.191797,-0.015832],[0.003087,0.097945,0.995187]]
2025-10-25T04:18:12.541Z,1761365892.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:12.710Z,1761365892.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192255,0.976693,-0.095437],[-0.981342,0.191600,-0.016070],[0.002591,0.096746,0.995306]]
2025-10-25T04:18:12.793Z,1761365892.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:13.045Z,1761365893.045 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:13.115Z,1761365893.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192061,0.976789,-0.094851],[-0.981381,0.191362,-0.016505],[0.002029,0.096255,0.995355]]
2025-10-25T04:18:13.164Z,1761365893.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:13.298Z,1761365893.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:13.517Z,1761365893.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191691,0.976839,-0.095074],[-0.981454,0.190942,-0.017004],[0.001543,0.096570,0.995325]]
2025-10-25T04:18:13.549Z,1761365893.549 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:13.802Z,1761365893.802 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:13.929Z,1761365893.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191354,0.976861,-0.095526],[-0.981520,0.190549,-0.017569],[0.001040,0.097123,0.995272]]
2025-10-25T04:18:14.054Z,1761365894.054 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:14.305Z,1761365894.305 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:14.351Z,1761365894.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190507,0.976977,-0.096036],[-0.981686,0.189604,-0.018531],[0.000104,0.097807,0.995205]]
2025-10-25T04:18:14.557Z,1761365894.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:14.745Z,1761365894.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189809,0.977110,-0.096066],[-0.981821,0.188864,-0.018926],[-0.000349,0.097912,0.995195]]
2025-10-25T04:18:14.810Z,1761365894.810 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:15.061Z,1761365895.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:15.186Z,1761365895.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:15.313Z,1761365895.313 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:15.536Z,1761365895.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188945,0.977424,-0.094563],[-0.981987,0.187960,-0.019294],[-0.001084,0.096505,0.995332]]
2025-10-25T04:18:15.566Z,1761365895.566 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:15.817Z,1761365895.817 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:16.069Z,1761365896.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:16.321Z,1761365896.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:16.344Z,1761365896.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188552,0.977500,-0.094565],[-0.982061,0.187489,-0.020080],[-0.001899,0.096655,0.995316]]
2025-10-25T04:18:16.574Z,1761365896.574 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:16.748Z,1761365896.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187971,0.977578,-0.094908],[-0.982172,0.186888,-0.020253],[-0.002062,0.097023,0.995280]]
2025-10-25T04:18:16.826Z,1761365896.826 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:17.077Z,1761365897.077 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:17.152Z,1761365897.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187691,0.977719,-0.094007],[-0.982225,0.186606,-0.020284],[-0.002290,0.096143,0.995365]]
2025-10-25T04:18:17.209Z,1761365897.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:17.329Z,1761365897.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:17.560Z,1761365897.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187283,0.977821,-0.093765],[-0.982303,0.186180,-0.020451],[-0.002541,0.095936,0.995384]]
2025-10-25T04:18:17.581Z,1761365897.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:17.833Z,1761365897.833 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:17.960Z,1761365897.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187037,0.977910,-0.093327],[-0.982349,0.185925,-0.020556],[-0.002750,0.095524,0.995423]]
2025-10-25T04:18:18.085Z,1761365898.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:18.337Z,1761365898.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:18.365Z,1761365898.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186379,0.978037,-0.093314],[-0.982474,0.185260,-0.020596],[-0.002856,0.095517,0.995424]]
2025-10-25T04:18:18.590Z,1761365898.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:18.770Z,1761365898.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186016,0.978083,-0.093547],[-0.982542,0.184889,-0.020654],[-0.002905,0.095756,0.995401]]
2025-10-25T04:18:18.841Z,1761365898.841 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:19.093Z,1761365899.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:19.174Z,1761365899.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185479,0.978154,-0.093875],[-0.982643,0.184328,-0.020862],[-0.003103,0.096115,0.995365]]
2025-10-25T04:18:19.218Z,1761365899.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:19.347Z,1761365899.347 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:19.577Z,1761365899.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184832,0.978251,-0.094141],[-0.982765,0.183677,-0.020867],[-0.003121,0.096375,0.995340]]
2025-10-25T04:18:19.601Z,1761365899.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:19.853Z,1761365899.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:19.981Z,1761365899.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183709,0.978460,-0.094163],[-0.982976,0.182560,-0.020753],[-0.003116,0.096372,0.995340]]
2025-10-25T04:18:20.105Z,1761365900.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:20.358Z,1761365900.358 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:20.399Z,1761365900.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182399,0.978674,-0.094491],[-0.983220,0.181264,-0.020535],[-0.002969,0.096651,0.995314]]
2025-10-25T04:18:20.609Z,1761365900.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:20.793Z,1761365900.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181067,0.978915,-0.094550],[-0.983467,0.179950,-0.020281],[-0.002839,0.096659,0.995313]]
2025-10-25T04:18:20.861Z,1761365900.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:21.114Z,1761365901.114 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:21.247Z,1761365901.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:21.365Z,1761365901.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:21.596Z,1761365901.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178136,0.979385,-0.095252],[-0.984002,0.177043,-0.019876],[-0.002602,0.097269,0.995255]]
2025-10-25T04:18:21.617Z,1761365901.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:21.869Z,1761365901.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:22.009Z,1761365902.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176335,0.979660,-0.095770],[-0.984327,0.175253,-0.019663],[-0.002479,0.097736,0.995209]]
2025-10-25T04:18:22.124Z,1761365902.124 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:22.374Z,1761365902.374 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:22.408Z,1761365902.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175042,0.979884,-0.095851],[-0.984558,0.173967,-0.019531],[-0.002463,0.097790,0.995204]]
2025-10-25T04:18:22.626Z,1761365902.626 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:22.894Z,1761365902.894 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:23.146Z,1761365903.146 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:23.269Z,1761365903.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:23.324Z,1761365903.324 [CTD_Seabird](ERROR): Failed to parse device response: 50.89,11.3995,3.79785,
2025-10-25T04:18:23.401Z,1761365903.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:23.623Z,1761365903.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171817,0.980490,-0.095495],[-0.985125,0.170730,-0.019501],[-0.002816,0.097425,0.995239]]
2025-10-25T04:18:23.649Z,1761365903.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:23.901Z,1761365903.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:24.022Z,1761365904.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171432,0.980581,-0.095250],[-0.985191,0.170319,-0.019754],[-0.003148,0.097225,0.995257]]
2025-10-25T04:18:24.155Z,1761365904.155 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:24.406Z,1761365904.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:24.425Z,1761365904.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171183,0.980682,-0.094657],[-0.985233,0.170045,-0.020014],[-0.003532,0.096686,0.995309]]
2025-10-25T04:18:24.657Z,1761365904.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:24.910Z,1761365904.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:25.161Z,1761365905.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:25.234Z,1761365905.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170712,0.980797,-0.094307],[-0.985313,0.169531,-0.020451],[-0.004071,0.096413,0.995333]]
2025-10-25T04:18:25.278Z,1761365905.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:25.413Z,1761365905.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:25.643Z,1761365905.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170667,0.980852,-0.093824],[-0.985318,0.169450,-0.020842],[-0.004545,0.096004,0.995371]]
2025-10-25T04:18:25.665Z,1761365905.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:25.917Z,1761365905.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:26.043Z,1761365906.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171051,0.980814,-0.093520],[-0.985250,0.169799,-0.021246],[-0.004959,0.095775,0.995391]]
2025-10-25T04:18:26.179Z,1761365906.179 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:26.429Z,1761365906.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:26.446Z,1761365906.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171490,0.980779,-0.093082],[-0.985170,0.170182,-0.021874],[-0.005613,0.095453,0.995418]]
2025-10-25T04:18:26.681Z,1761365906.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:26.850Z,1761365906.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172249,0.980653,-0.093001],[-0.985034,0.170886,-0.022492],[-0.006165,0.095484,0.995412]]
2025-10-25T04:18:26.934Z,1761365906.934 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:27.187Z,1761365907.187 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:27.253Z,1761365907.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172232,0.980686,-0.092689],[-0.985035,0.170842,-0.022789],[-0.006514,0.095227,0.995434]]
2025-10-25T04:18:27.327Z,1761365907.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:27.437Z,1761365907.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:27.663Z,1761365907.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172418,0.980582,-0.093435],[-0.985001,0.170989,-0.023154],[-0.006728,0.096025,0.995356]]
2025-10-25T04:18:27.690Z,1761365907.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:27.941Z,1761365907.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:28.060Z,1761365908.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171879,0.980683,-0.093370],[-0.985094,0.170436,-0.023283],[-0.006920,0.095981,0.995359]]
2025-10-25T04:18:28.195Z,1761365908.195 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:28.445Z,1761365908.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:28.476Z,1761365908.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171881,0.980699,-0.093200],[-0.985092,0.170418,-0.023501],[-0.007164,0.095850,0.995370]]
2025-10-25T04:18:28.697Z,1761365908.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:28.868Z,1761365908.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171119,0.980826,-0.093261],[-0.985224,0.169647,-0.023543],[-0.007270,0.095912,0.995363]]
2025-10-25T04:18:28.949Z,1761365908.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:29.204Z,1761365909.204 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:29.275Z,1761365909.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170462,0.980948,-0.093191],[-0.985337,0.168993,-0.023496],[-0.007300,0.095830,0.995371]]
2025-10-25T04:18:29.334Z,1761365909.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:29.453Z,1761365909.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:29.675Z,1761365909.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169830,0.981027,-0.093509],[-0.985444,0.168332,-0.023737],[-0.007546,0.096179,0.995335]]
2025-10-25T04:18:29.706Z,1761365909.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:29.957Z,1761365909.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:30.082Z,1761365910.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168938,0.981141,-0.093925],[-0.985598,0.167444,-0.023632],[-0.007460,0.096565,0.995299]]
2025-10-25T04:18:30.211Z,1761365910.211 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:30.461Z,1761365910.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:30.485Z,1761365910.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167949,0.981290,-0.094142],[-0.985768,0.166458,-0.023531],[-0.007420,0.096754,0.995281]]
2025-10-25T04:18:30.714Z,1761365910.714 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:30.887Z,1761365910.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166759,0.981442,-0.094678],[-0.985968,0.165240,-0.023716],[-0.007631,0.097305,0.995225]]
2025-10-25T04:18:30.966Z,1761365910.966 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:31.220Z,1761365911.220 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:31.304Z,1761365911.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164928,0.981681,-0.095399],[-0.986275,0.163390,-0.023774],[-0.007751,0.098011,0.995155]]
2025-10-25T04:18:31.351Z,1761365911.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:31.469Z,1761365911.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:31.703Z,1761365911.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.163311,0.981854,-0.096393],[-0.986546,0.161774,-0.023602],[-0.007580,0.098950,0.995063]]
2025-10-25T04:18:31.723Z,1761365911.723 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:31.973Z,1761365911.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:32.101Z,1761365912.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161769,0.982092,-0.096569],[-0.986800,0.160240,-0.023430],[-0.007536,0.099084,0.995050]]
2025-10-25T04:18:32.228Z,1761365912.228 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:32.480Z,1761365912.480 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:32.505Z,1761365912.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160577,0.982302,-0.096422],[-0.986993,0.159042,-0.023443],[-0.007693,0.098932,0.995064]]
2025-10-25T04:18:32.729Z,1761365912.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:32.908Z,1761365912.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159287,0.982539,-0.096152],[-0.987202,0.157763,-0.023299],[-0.007723,0.098632,0.995094]]
2025-10-25T04:18:32.982Z,1761365912.982 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:33.236Z,1761365913.236 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:33.314Z,1761365913.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158167,0.982749,-0.095855],[-0.987381,0.156637,-0.023334],[-0.007917,0.098337,0.995122]]
2025-10-25T04:18:33.367Z,1761365913.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:33.485Z,1761365913.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:33.716Z,1761365913.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157450,0.982890,-0.095588],[-0.987494,0.155915,-0.023375],[-0.008071,0.098073,0.995147]]
2025-10-25T04:18:33.737Z,1761365913.737 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:33.990Z,1761365913.990 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:34.121Z,1761365914.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156236,0.983151,-0.094886],[-0.987687,0.154732,-0.023058],[-0.007987,0.097320,0.995221]]
2025-10-25T04:18:34.243Z,1761365914.243 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:34.493Z,1761365914.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:34.524Z,1761365914.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155251,0.983340,-0.094551],[-0.987843,0.153757,-0.022929],[-0.008009,0.096961,0.995256]]
2025-10-25T04:18:34.745Z,1761365914.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:34.928Z,1761365914.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154297,0.983526,-0.094171],[-0.987992,0.152814,-0.022806],[-0.008040,0.096559,0.995295]]
2025-10-25T04:18:34.998Z,1761365914.998 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:35.252Z,1761365915.252 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:35.332Z,1761365915.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153546,0.983603,-0.094596],[-0.988109,0.152056,-0.022802],[-0.008044,0.096972,0.995255]]
2025-10-25T04:18:35.388Z,1761365915.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:35.501Z,1761365915.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:35.740Z,1761365915.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153264,0.983646,-0.094602],[-0.988151,0.151753,-0.023008],[-0.008276,0.097008,0.995249]]
2025-10-25T04:18:35.754Z,1761365915.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:36.006Z,1761365916.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:36.144Z,1761365916.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152589,0.983738,-0.094745],[-0.988254,0.151061,-0.023139],[-0.008451,0.097163,0.995233]]
2025-10-25T04:18:36.258Z,1761365916.258 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:36.509Z,1761365916.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:36.544Z,1761365916.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152812,0.983677,-0.095018],[-0.988217,0.151246,-0.023506],[-0.008751,0.097490,0.995198]]
2025-10-25T04:18:36.761Z,1761365916.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:37.015Z,1761365917.015 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:37.266Z,1761365917.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:37.428Z,1761365917.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:37.518Z,1761365917.518 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:37.755Z,1761365917.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152636,0.983640,-0.095683],[-0.988236,0.150973,-0.024427],[-0.009582,0.098286,0.995112]]
2025-10-25T04:18:37.769Z,1761365917.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:38.022Z,1761365918.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:38.274Z,1761365918.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:38.525Z,1761365918.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:38.566Z,1761365918.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152636,0.983602,-0.096067],[-0.988224,0.150845,-0.025688],[-0.010776,0.098857,0.995043]]
2025-10-25T04:18:38.778Z,1761365918.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:38.970Z,1761365918.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152772,0.983620,-0.095673],[-0.988177,0.150772,-0.027842],[-0.012961,0.098795,0.995023]]
2025-10-25T04:18:39.029Z,1761365919.029 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:39.284Z,1761365919.284 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:39.431Z,1761365919.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:39.506Z,1761365919.506 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:18:39.534Z,1761365919.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:39.775Z,1761365919.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151296,0.983851,-0.095634],[-0.988339,0.148883,-0.031924],[-0.017170,0.099349,0.994905]]
2025-10-25T04:18:39.785Z,1761365919.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:40.037Z,1761365920.037 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:40.180Z,1761365920.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150503,0.984090,-0.094421],[-0.988426,0.147946,-0.033559],[-0.019056,0.098379,0.994967]]
2025-10-25T04:18:40.290Z,1761365920.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:40.509Z,1761365920.509 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:18:40.541Z,1761365920.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:40.793Z,1761365920.793 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:40.988Z,1761365920.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148862,0.984441,-0.093356],[-0.988595,0.145980,-0.037015],[-0.022811,0.097801,0.994945]]
2025-10-25T04:18:41.049Z,1761365921.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:41.298Z,1761365921.298 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:41.424Z,1761365921.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148015,0.984514,-0.093934],[-0.988683,0.144952,-0.038668],[-0.024453,0.098594,0.994827]]
2025-10-25T04:18:41.467Z,1761365921.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:41.550Z,1761365921.550 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:41.717Z,1761365921.717 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:18:41.806Z,1761365921.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:41.814Z,1761365921.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147310,0.984578,-0.094365],[-0.988743,0.144059,-0.040424],[-0.026207,0.099258,0.994717]]
2025-10-25T04:18:42.057Z,1761365922.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:42.200Z,1761365922.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146398,0.984704,-0.094481],[-0.988831,0.142972,-0.042100],[-0.027948,0.099589,0.994636]]
2025-10-25T04:18:42.310Z,1761365922.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:42.561Z,1761365922.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:42.604Z,1761365922.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145393,0.984822,-0.094797],[-0.988931,0.141793,-0.043703],[-0.029598,0.100101,0.994537]]
2025-10-25T04:18:42.813Z,1761365922.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:43.043Z,1761365923.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144508,0.984949,-0.094836],[-0.989010,0.140742,-0.045294],[-0.031265,0.100339,0.994462]]
2025-10-25T04:18:43.065Z,1761365923.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:43.317Z,1761365923.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:43.438Z,1761365923.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143529,0.985160,-0.094119],[-0.989097,0.139632,-0.046792],[-0.032955,0.099808,0.994461]]
2025-10-25T04:18:43.490Z,1761365923.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:43.569Z,1761365923.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:43.821Z,1761365923.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:43.827Z,1761365923.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142667,0.985313,-0.093837],[-0.989171,0.138639,-0.048157],[-0.034440,0.099691,0.994422]]
2025-10-25T04:18:44.074Z,1761365924.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:44.222Z,1761365924.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141697,0.985493,-0.093415],[-0.989259,0.137549,-0.049471],[-0.035904,0.099421,0.994398]]
2025-10-25T04:18:44.326Z,1761365924.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:44.577Z,1761365924.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:44.625Z,1761365924.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141226,0.985579,-0.093221],[-0.989274,0.136949,-0.050818],[-0.037319,0.099398,0.994348]]
2025-10-25T04:18:44.830Z,1761365924.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:45.029Z,1761365925.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140235,0.985794,-0.092431],[-0.989379,0.135913,-0.051534],[-0.038240,0.098677,0.994385]]
2025-10-25T04:18:45.081Z,1761365925.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:45.334Z,1761365925.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:45.470Z,1761365925.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140078,0.985863,-0.091939],[-0.989372,0.135708,-0.052204],[-0.038989,0.098275,0.994395]]
2025-10-25T04:18:45.520Z,1761365925.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:45.585Z,1761365925.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:45.835Z,1761365925.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140480,0.985831,-0.091662],[-0.989271,0.136013,-0.053321],[-0.040098,0.098169,0.994362]]
2025-10-25T04:18:45.837Z,1761365925.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:46.090Z,1761365926.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:46.240Z,1761365926.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140683,0.985795,-0.091737],[-0.989202,0.136113,-0.054332],[-0.041074,0.098390,0.994300]]
2025-10-25T04:18:46.342Z,1761365926.342 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:46.594Z,1761365926.594 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:46.652Z,1761365926.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141127,0.985770,-0.091328],[-0.989088,0.136455,-0.055550],[-0.042298,0.098171,0.994270]]
2025-10-25T04:18:46.845Z,1761365926.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:47.049Z,1761365927.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141048,0.985732,-0.091861],[-0.989054,0.136244,-0.056654],[-0.043330,0.098846,0.994159]]
2025-10-25T04:18:47.097Z,1761365927.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:47.349Z,1761365927.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:47.561Z,1761365927.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:47.602Z,1761365927.602 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:47.853Z,1761365927.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:48.106Z,1761365928.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:48.261Z,1761365928.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142366,0.985656,-0.090632],[-0.988701,0.137266,-0.060245],[-0.046940,0.098185,0.994061]]
2025-10-25T04:18:48.357Z,1761365928.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:48.611Z,1761365928.611 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:48.677Z,1761365928.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143592,0.985619,-0.089090],[-0.988415,0.138360,-0.062389],[-0.049165,0.097016,0.994068]]
2025-10-25T04:18:48.861Z,1761365928.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:49.073Z,1761365929.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144079,0.985664,-0.087788],[-0.988296,0.138834,-0.063212],[-0.050118,0.095869,0.994131]]
2025-10-25T04:18:49.113Z,1761365929.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:49.365Z,1761365929.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:49.522Z,1761365929.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144598,0.985618,-0.087457],[-0.988164,0.139263,-0.064329],[-0.051224,0.095724,0.994089]]
2025-10-25T04:18:49.618Z,1761365929.618 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:49.869Z,1761365929.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:49.876Z,1761365929.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144919,0.985582,-0.087328],[-0.988065,0.139494,-0.065345],[-0.052221,0.095755,0.994034]]
2025-10-25T04:18:49.909Z,1761365929.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:50.122Z,1761365930.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:50.286Z,1761365930.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144531,0.985638,-0.087345],[-0.988094,0.139057,-0.065834],[-0.052743,0.095820,0.994000]]
2025-10-25T04:18:50.373Z,1761365930.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:50.625Z,1761365930.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:50.685Z,1761365930.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143912,0.985846,-0.086009],[-0.988179,0.138521,-0.065688],[-0.052844,0.094445,0.994127]]
2025-10-25T04:18:50.877Z,1761365930.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:51.091Z,1761365931.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143265,0.986019,-0.085099],[-0.988266,0.137927,-0.065630],[-0.052975,0.093503,0.994209]]
2025-10-25T04:18:51.146Z,1761365931.146 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:51.397Z,1761365931.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:51.492Z,1761365931.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142545,0.986164,-0.084619],[-0.988358,0.137224,-0.065705],[-0.053184,0.093000,0.994245]]
2025-10-25T04:18:51.649Z,1761365931.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:51.898Z,1761365931.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141753,0.986287,-0.084526],[-0.988462,0.136426,-0.065813],[-0.053379,0.092880,0.994245]]
2025-10-25T04:18:51.901Z,1761365931.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:51.963Z,1761365931.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:52.153Z,1761365932.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:52.307Z,1761365932.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140453,0.986504,-0.084157],[-0.988660,0.135180,-0.065402],[-0.053143,0.092389,0.994304]]
2025-10-25T04:18:52.406Z,1761365932.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:52.658Z,1761365932.658 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:52.710Z,1761365932.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138448,0.986767,-0.084400],[-0.988955,0.133194,-0.065016],[-0.052914,0.092469,0.994309]]
2025-10-25T04:18:52.909Z,1761365932.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:53.161Z,1761365933.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:53.413Z,1761365933.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:53.665Z,1761365933.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:53.917Z,1761365933.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:53.988Z,1761365933.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:54.169Z,1761365934.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:54.328Z,1761365934.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129760,0.987821,-0.085859],[-0.990183,0.124557,-0.063427],[-0.051960,0.093247,0.994286]]
2025-10-25T04:18:54.423Z,1761365934.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:54.674Z,1761365934.674 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:54.725Z,1761365934.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127607,0.988145,-0.085355],[-0.990478,0.122478,-0.062867],[-0.051668,0.092565,0.994365]]
2025-10-25T04:18:54.925Z,1761365934.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:55.133Z,1761365935.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125584,0.988462,-0.084685],[-0.990758,0.120548,-0.062182],[-0.051255,0.091712,0.994466]]
2025-10-25T04:18:55.177Z,1761365935.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:55.429Z,1761365935.429 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:55.533Z,1761365935.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123670,0.988721,-0.084478],[-0.991010,0.118680,-0.061761],[-0.051038,0.091357,0.994509]]
2025-10-25T04:18:55.681Z,1761365935.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:55.933Z,1761365935.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:55.946Z,1761365935.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121660,0.988997,-0.084159],[-0.991275,0.116731,-0.061219],[-0.050721,0.090873,0.994570]]
2025-10-25T04:18:56.185Z,1761365936.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:56.341Z,1761365936.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119746,0.989262,-0.083801],[-0.991521,0.114874,-0.060743],[-0.050465,0.090364,0.994629]]
2025-10-25T04:18:56.374Z,1761365936.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:56.439Z,1761365936.439 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:56.690Z,1761365936.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:56.748Z,1761365936.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118302,0.989452,-0.083608],[-0.991708,0.113475,-0.060323],[-0.050199,0.090051,0.994671]]
2025-10-25T04:18:56.941Z,1761365936.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:57.165Z,1761365937.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116657,0.989659,-0.083469],[-0.991907,0.111855,-0.060070],[-0.050112,0.089801,0.994698]]
2025-10-25T04:18:57.209Z,1761365937.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:57.461Z,1761365937.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:57.553Z,1761365937.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115224,0.989841,-0.083293],[-0.992079,0.110450,-0.059827],[-0.050019,0.089527,0.994728]]
2025-10-25T04:18:57.716Z,1761365937.716 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:57.957Z,1761365937.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113639,0.990074,-0.082700],[-0.992279,0.108940,-0.059292],[-0.049694,0.088799,0.994809]]
2025-10-25T04:18:57.970Z,1761365937.970 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:58.223Z,1761365938.223 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:58.360Z,1761365938.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112016,0.990237,-0.082964],[-0.992476,0.107333,-0.058907],[-0.049427,0.088939,0.994810]]
2025-10-25T04:18:58.378Z,1761365938.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:18:58.473Z,1761365938.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:58.725Z,1761365938.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:58.776Z,1761365938.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110234,0.990386,-0.083569],[-0.992713,0.105593,-0.058068],[-0.048686,0.089361,0.994809]]
2025-10-25T04:18:58.977Z,1761365938.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:59.170Z,1761365939.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108138,0.990501,-0.084934],[-0.992992,0.103520,-0.057017],[-0.047683,0.090504,0.994754]]
2025-10-25T04:18:59.190Z,1761365939.190 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-10-25T04:18:59.229Z,1761365939.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:59.481Z,1761365939.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:59.573Z,1761365939.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106817,0.990649,-0.084875],[-0.993174,0.102285,-0.056070],[-0.046864,0.090285,0.994813]]
2025-10-25T04:18:59.733Z,1761365939.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:18:59.986Z,1761365939.986 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:00.237Z,1761365940.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:00.380Z,1761365940.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102289,0.991116,-0.085003],[-0.993736,0.097945,-0.053804],[-0.045000,0.089975,0.994927]]
2025-10-25T04:19:00.424Z,1761365940.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:00.490Z,1761365940.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:00.741Z,1761365940.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:00.786Z,1761365940.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099446,0.991413,-0.084910],[-0.994082,0.095238,-0.052261],[-0.043726,0.089604,0.995017]]
2025-10-25T04:19:00.993Z,1761365940.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:01.188Z,1761365941.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097173,0.991635,-0.084958],[-0.994359,0.093084,-0.050844],[-0.042510,0.089419,0.995086]]
2025-10-25T04:19:01.245Z,1761365941.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:01.497Z,1761365941.497 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:01.594Z,1761365941.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095136,0.991824,-0.085051],[-0.994603,0.091153,-0.049555],[-0.041397,0.089307,0.995144]]
2025-10-25T04:19:01.749Z,1761365941.750 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:01.996Z,1761365941.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093373,0.991958,-0.085442],[-0.994820,0.089490,-0.048208],[-0.040174,0.089500,0.995176]]
2025-10-25T04:19:02.012Z,1761365942.012 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:02.049Z,1761365942.049 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-10-25T04:19:02.266Z,1761365942.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:02.401Z,1761365942.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091889,0.992110,-0.085284],[-0.995003,0.088122,-0.046942],[-0.039056,0.089171,0.995250]]
2025-10-25T04:19:02.517Z,1761365942.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:02.769Z,1761365942.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:02.809Z,1761365942.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090497,0.992207,-0.085649],[-0.995174,0.086820,-0.045734],[-0.037942,0.089375,0.995275]]
2025-10-25T04:19:02.846Z,1761365942.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:03.023Z,1761365943.023 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:03.222Z,1761365943.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089441,0.992299,-0.085687],[-0.995307,0.085858,-0.044628],[-0.036927,0.089276,0.995322]]
2025-10-25T04:19:03.274Z,1761365943.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:03.529Z,1761365943.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:03.613Z,1761365943.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088295,0.992417,-0.085510],[-0.995447,0.084818,-0.043477],[-0.035895,0.088959,0.995388]]
2025-10-25T04:19:03.777Z,1761365943.777 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:04.018Z,1761365944.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087539,0.992503,-0.085296],[-0.995552,0.084170,-0.042336],[-0.034839,0.088622,0.995456]]
2025-10-25T04:19:04.030Z,1761365944.030 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:04.282Z,1761365944.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:04.424Z,1761365944.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086413,0.992580,-0.085546],[-0.995690,0.083141,-0.041106],[-0.033689,0.088729,0.995486]]
2025-10-25T04:19:04.533Z,1761365944.533 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:04.785Z,1761365944.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:04.825Z,1761365944.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085345,0.992652,-0.085779],[-0.995821,0.082174,-0.039854],[-0.032513,0.088821,0.995517]]
2025-10-25T04:19:04.901Z,1761365944.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:05.038Z,1761365945.038 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:05.290Z,1761365945.290 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:05.541Z,1761365945.541 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:05.642Z,1761365945.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083172,0.992566,-0.088852],[-0.996109,0.080199,-0.036525],[-0.029128,0.091545,0.995375]]
2025-10-25T04:19:05.795Z,1761365945.795 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:06.044Z,1761365946.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081819,0.992639,-0.089290],[-0.996257,0.078951,-0.035199],[-0.027891,0.091836,0.995384]]
2025-10-25T04:19:06.046Z,1761365946.046 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:06.299Z,1761365946.299 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:06.550Z,1761365946.550 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:06.801Z,1761365946.801 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:06.845Z,1761365946.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079137,0.992740,-0.090577],[-0.996543,0.076481,-0.032434],[-0.025271,0.092831,0.995361]]
2025-10-25T04:19:07.053Z,1761365947.053 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:07.251Z,1761365947.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078009,0.992665,-0.092364],[-0.996659,0.075404,-0.031379],[-0.024185,0.094504,0.995231]]
2025-10-25T04:19:07.299Z,1761365947.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:07.307Z,1761365947.307 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:07.557Z,1761365947.557 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:07.652Z,1761365947.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076320,0.992784,-0.092498],[-0.996824,0.073854,-0.029796],[-0.022750,0.094479,0.995267]]
2025-10-25T04:19:07.812Z,1761365947.812 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:08.059Z,1761365948.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074633,0.992770,-0.094003],[-0.996976,0.072236,-0.028660],[-0.021663,0.095858,0.995159]]
2025-10-25T04:19:08.061Z,1761365948.061 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:08.313Z,1761365948.313 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:08.461Z,1761365948.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072782,0.992870,-0.094403],[-0.997140,0.070508,-0.027201],[-0.020351,0.096112,0.995162]]
2025-10-25T04:19:08.565Z,1761365948.565 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:08.819Z,1761365948.819 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:08.877Z,1761365948.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071146,0.992906,-0.095265],[-0.997283,0.068978,-0.025863],[-0.019108,0.096846,0.995116]]
2025-10-25T04:19:09.069Z,1761365949.069 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:09.272Z,1761365949.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069405,0.992984,-0.095742],[-0.997430,0.067365,-0.024384],[-0.017764,0.097188,0.995108]]
2025-10-25T04:19:09.307Z,1761365949.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:09.321Z,1761365949.321 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:09.574Z,1761365949.574 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:09.674Z,1761365949.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067450,0.993081,-0.096125],[-0.997584,0.065524,-0.023064],[-0.016606,0.097448,0.995102]]
2025-10-25T04:19:09.827Z,1761365949.827 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:10.076Z,1761365950.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066218,0.993125,-0.096531],[-0.997683,0.064382,-0.022009],[-0.015643,0.097765,0.995087]]
2025-10-25T04:19:10.077Z,1761365950.077 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:10.329Z,1761365950.329 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:10.581Z,1761365950.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:10.637Z,1761365950.637 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:19:10.836Z,1761365950.836 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:10.885Z,1761365950.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063007,0.993269,-0.097198],[-0.997915,0.061334,-0.020113],[-0.014016,0.098262,0.995062]]
2025-10-25T04:19:11.085Z,1761365951.085 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:11.299Z,1761365951.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061472,0.993382,-0.097024],[-0.998021,0.059886,-0.019178],[-0.013241,0.098011,0.995097]]
2025-10-25T04:19:11.315Z,1761365951.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:11.337Z,1761365951.337 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:11.590Z,1761365951.590 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:11.641Z,1761365951.641 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:19:11.695Z,1761365951.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059697,0.993541,-0.096502],[-0.998139,0.058209,-0.018159],[-0.012424,0.097407,0.995167]]
2025-10-25T04:19:11.843Z,1761365951.843 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:12.093Z,1761365952.093 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:12.098Z,1761365952.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059022,0.993704,-0.095234],[-0.998183,0.057591,-0.017712],[-0.012116,0.096106,0.995297]]
2025-10-25T04:19:12.348Z,1761365952.348 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:12.500Z,1761365952.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057913,0.993784,-0.095074],[-0.998252,0.056519,-0.017289],[-0.011808,0.095910,0.995320]]
2025-10-25T04:19:12.601Z,1761365952.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:12.856Z,1761365952.856 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:12.907Z,1761365952.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057306,0.993879,-0.094453],[-0.998290,0.055948,-0.016965],[-0.011577,0.095263,0.995385]]
2025-10-25T04:19:13.106Z,1761365953.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:13.325Z,1761365953.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056454,0.993924,-0.094485],[-0.998341,0.055126,-0.016616],[-0.011307,0.095267,0.995388]]
2025-10-25T04:19:13.343Z,1761365953.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:13.359Z,1761365953.359 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:13.609Z,1761365953.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:13.712Z,1761365953.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055844,0.994009,-0.093952],[-0.998377,0.054542,-0.016364],[-0.011142,0.094713,0.995442]]
2025-10-25T04:19:13.863Z,1761365953.863 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:14.113Z,1761365954.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:14.118Z,1761365954.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055064,0.994067,-0.093802],[-0.998424,0.053793,-0.016023],[-0.010882,0.094537,0.995462]]
2025-10-25T04:19:14.365Z,1761365954.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:14.522Z,1761365954.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055252,0.994125,-0.093069],[-0.998414,0.053999,-0.015936],[-0.010817,0.093802,0.995532]]
2025-10-25T04:19:14.617Z,1761365954.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:14.871Z,1761365954.871 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:14.941Z,1761365954.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054914,0.994170,-0.092796],[-0.998434,0.053678,-0.015765],[-0.010692,0.093516,0.995560]]
2025-10-25T04:19:15.126Z,1761365955.126 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:15.327Z,1761365955.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055280,0.994170,-0.092579],[-0.998415,0.054056,-0.015677],[-0.010581,0.093299,0.995582]]
2025-10-25T04:19:15.368Z,1761365955.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:15.377Z,1761365955.377 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:15.630Z,1761365955.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:15.734Z,1761365955.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055676,0.994175,-0.092286],[-0.998393,0.054455,-0.015705],[-0.010589,0.093012,0.995609]]
2025-10-25T04:19:15.884Z,1761365955.884 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:16.133Z,1761365956.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:16.140Z,1761365956.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056061,0.994156,-0.092257],[-0.998372,0.054844,-0.015677],[-0.010526,0.092986,0.995612]]
2025-10-25T04:19:16.385Z,1761365956.385 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:16.557Z,1761365956.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056344,0.994099,-0.092698],[-0.998359,0.055142,-0.015475],[-0.010272,0.093418,0.995574]]
2025-10-25T04:19:16.637Z,1761365956.637 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:16.892Z,1761365956.892 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:16.964Z,1761365956.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056462,0.993980,-0.093896],[-0.998355,0.055268,-0.015265],[-0.009984,0.094604,0.995465]]
2025-10-25T04:19:17.142Z,1761365957.142 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:17.348Z,1761365957.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056569,0.993933,-0.094329],[-0.998352,0.055403,-0.014941],[-0.009624,0.095019,0.995429]]
2025-10-25T04:19:17.394Z,1761365957.394 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:17.646Z,1761365957.646 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:17.754Z,1761365957.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055672,0.993897,-0.095231],[-0.998408,0.054555,-0.014293],[-0.009011,0.095875,0.995353]]
2025-10-25T04:19:17.773Z,1761365957.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:17.897Z,1761365957.897 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:18.149Z,1761365958.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:18.158Z,1761365958.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055072,0.993858,-0.095990],[-0.998447,0.054005,-0.013690],[-0.008422,0.096595,0.995288]]
2025-10-25T04:19:18.401Z,1761365958.401 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:18.653Z,1761365958.653 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:18.907Z,1761365958.907 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:18.983Z,1761365958.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052340,0.993778,-0.098312],[-0.998604,0.051382,-0.012256],[-0.007128,0.098816,0.995080]]
2025-10-25T04:19:19.157Z,1761365959.157 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:19.373Z,1761365959.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050312,0.993858,-0.098566],[-0.998713,0.049433,-0.011338],[-0.006396,0.099010,0.995066]]
2025-10-25T04:19:19.410Z,1761365959.410 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:19.661Z,1761365959.661 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:19.773Z,1761365959.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048131,0.993908,-0.099149],[-0.998825,0.047329,-0.010423],[-0.005667,0.099534,0.995018]]
2025-10-25T04:19:19.798Z,1761365959.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:19.913Z,1761365959.913 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:20.174Z,1761365960.174 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:20.177Z,1761365960.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045527,0.994090,-0.098555],[-0.998950,0.044790,-0.009681],[-0.005210,0.098892,0.995085]]
2025-10-25T04:19:20.426Z,1761365960.426 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:20.581Z,1761365960.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.043256,0.994165,-0.098815],[-0.999054,0.042603,-0.008706],[-0.004445,0.099098,0.995068]]
2025-10-25T04:19:20.677Z,1761365960.677 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:20.930Z,1761365960.930 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:21.014Z,1761365961.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040843,0.994283,-0.098662],[-0.999159,0.040281,-0.007679],[-0.003661,0.098893,0.995091]]
2025-10-25T04:19:21.181Z,1761365961.181 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:21.433Z,1761365961.433 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:21.685Z,1761365961.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:21.796Z,1761365961.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036043,0.994432,-0.099022],[-0.999348,0.035669,-0.005548],[-0.001985,0.099158,0.995070]]
2025-10-25T04:19:21.840Z,1761365961.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:21.937Z,1761365961.937 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:22.190Z,1761365962.190 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:22.199Z,1761365962.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033473,0.994561,-0.098627],[-0.999439,0.033178,-0.004631],[-0.001334,0.098727,0.995114]]
2025-10-25T04:19:22.441Z,1761365962.441 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:22.616Z,1761365962.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031829,0.994670,-0.098072],[-0.999493,0.031583,-0.004061],[-0.000942,0.098152,0.995171]]
2025-10-25T04:19:22.693Z,1761365962.693 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:22.945Z,1761365962.945 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:23.065Z,1761365963.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027688,0.994880,-0.097201],[-0.999617,0.027535,-0.002913],[-0.000222,0.097244,0.995261]]
2025-10-25T04:19:23.096Z,1761365963.096 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -26.51,   7 -8.35,  24.40,  0.00
2025-10-25T04:19:23.197Z,1761365963.197 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:23.416Z,1761365963.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025805,0.995074,-0.095716],[-0.999667,0.025713,-0.002191],[0.000281,0.095740,0.995406]]
2025-10-25T04:19:23.449Z,1761365963.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:23.701Z,1761365963.701 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:23.814Z,1761365963.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024731,0.995109,-0.095637],[-0.999694,0.024668,-0.001847],[0.000521,0.095654,0.995415]]
2025-10-25T04:19:23.954Z,1761365963.954 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:24.206Z,1761365964.206 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:24.309Z,1761365964.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:24.457Z,1761365964.457 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:24.630Z,1761365964.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022347,0.995198,-0.095293],[-0.999750,0.022295,-0.001611],[0.000521,0.095305,0.995448]]
2025-10-25T04:19:24.709Z,1761365964.709 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:24.962Z,1761365964.962 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:25.073Z,1761365965.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021993,0.995230,-0.095043],[-0.999758,0.021911,-0.001905],[0.000187,0.095062,0.995471]]
2025-10-25T04:19:25.213Z,1761365965.213 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:25.433Z,1761365965.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020927,0.995211,-0.095483],[-0.999781,0.020891,-0.001381],[0.000620,0.095491,0.995430]]
2025-10-25T04:19:25.466Z,1761365965.466 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:25.717Z,1761365965.717 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:25.832Z,1761365965.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021214,0.995130,-0.096266],[-0.999775,0.021200,-0.001170],[0.000876,0.096269,0.995355]]
2025-10-25T04:19:25.969Z,1761365965.969 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:26.222Z,1761365966.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:26.238Z,1761365966.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021770,0.994913,-0.098359],[-0.999763,0.021746,-0.001313],[0.000833,0.098364,0.995150]]
2025-10-25T04:19:26.473Z,1761365966.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:26.659Z,1761365966.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022177,0.994797,-0.099439],[-0.999754,0.022156,-0.001317],[0.000893,0.099443,0.995043]]
2025-10-25T04:19:26.685Z,1761365966.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:26.725Z,1761365966.725 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:26.977Z,1761365966.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:27.083Z,1761365967.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021928,0.994764,-0.099819],[-0.999759,0.021902,-0.001360],[0.000833,0.099825,0.995005]]
2025-10-25T04:19:27.230Z,1761365967.230 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:27.448Z,1761365967.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022176,0.994680,-0.100601],[-0.999754,0.022132,-0.001555],[0.000680,0.100611,0.994926]]
2025-10-25T04:19:27.481Z,1761365967.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:27.733Z,1761365967.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:27.853Z,1761365967.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021816,0.994517,-0.102277],[-0.999762,0.021739,-0.001874],[0.000360,0.102293,0.994754]]
2025-10-25T04:19:27.985Z,1761365967.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:28.237Z,1761365968.237 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:28.256Z,1761365968.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021445,0.994395,-0.103534],[-0.999770,0.021347,-0.002058],[0.000164,0.103555,0.994624]]
2025-10-25T04:19:28.490Z,1761365968.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:28.660Z,1761365968.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020759,0.994357,-0.104036],[-0.999785,0.020658,-0.002052],[0.000109,0.104056,0.994571]]
2025-10-25T04:19:28.699Z,1761365968.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:28.741Z,1761365968.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:28.993Z,1761365968.993 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:29.245Z,1761365969.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:29.470Z,1761365969.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017429,0.994381,-0.104418],[-0.999847,0.017210,-0.003002],[-0.001188,0.104455,0.994529]]
2025-10-25T04:19:29.498Z,1761365969.498 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:29.749Z,1761365969.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:29.874Z,1761365969.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015046,0.994423,-0.104383],[-0.999887,0.014884,-0.002330],[-0.000764,0.104406,0.994534]]
2025-10-25T04:19:30.001Z,1761365970.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:30.253Z,1761365970.253 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:30.295Z,1761365970.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012923,0.994495,-0.103985],[-0.999916,0.012824,-0.001617],[-0.000275,0.103998,0.994577]]
2025-10-25T04:19:30.506Z,1761365970.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:30.683Z,1761365970.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010500,0.994530,-0.103927],[-0.999945,0.010489,-0.000659],[0.000435,0.103928,0.994585]]
2025-10-25T04:19:30.725Z,1761365970.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:30.757Z,1761365970.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:31.009Z,1761365971.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:31.092Z,1761365971.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007889,0.994539,-0.104064],[-0.999968,0.008005,0.000696],[0.001525,0.104055,0.994570]]
2025-10-25T04:19:31.261Z,1761365971.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:31.491Z,1761365971.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004779,0.994685,-0.102855],[-0.999984,0.005078,0.002646],[0.003155,0.102840,0.994693]]
2025-10-25T04:19:31.513Z,1761365971.513 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:31.765Z,1761365971.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:31.892Z,1761365971.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002321,0.994801,-0.101812],[-0.999986,0.002794,0.004501],[0.004762,0.101800,0.994793]]
2025-10-25T04:19:32.017Z,1761365972.017 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:32.270Z,1761365972.270 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:32.303Z,1761365972.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000221,0.994836,-0.101499],[-0.999981,0.000400,0.006098],[0.006107,0.101499,0.994817]]
2025-10-25T04:19:32.523Z,1761365972.523 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:32.702Z,1761365972.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002284,0.994826,-0.101566],[-0.999971,-0.001539,0.007416],[0.007221,0.101580,0.994801]]
2025-10-25T04:19:32.774Z,1761365972.774 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:33.025Z,1761365973.025 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:33.113Z,1761365973.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004434,0.994837,-0.101387],[-0.999953,-0.003542,0.008980],[0.008574,0.101422,0.994806]]
2025-10-25T04:19:33.190Z,1761365973.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:33.278Z,1761365973.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:33.509Z,1761365973.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006487,0.994788,-0.101756],[-0.999930,-0.005444,0.010524],[0.009915,0.101817,0.994754]]
2025-10-25T04:19:33.529Z,1761365973.529 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:33.782Z,1761365973.782 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:33.913Z,1761365973.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007831,0.994723,-0.102295],[-0.999903,-0.006611,0.012261],[0.011520,0.102381,0.994679]]
2025-10-25T04:19:34.033Z,1761365974.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:34.286Z,1761365974.286 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:34.318Z,1761365974.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009175,0.994759,-0.101836],[-0.999873,-0.007800,0.013889],[0.013021,0.101951,0.994704]]
2025-10-25T04:19:34.538Z,1761365974.538 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:34.721Z,1761365974.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010042,0.994689,-0.102434],[-0.999845,-0.008504,0.015442],[0.014488,0.102573,0.994620]]
2025-10-25T04:19:34.791Z,1761365974.791 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:35.041Z,1761365975.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:35.126Z,1761365975.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010574,0.994646,-0.102796],[-0.999823,-0.008920,0.016538],[0.015533,0.102953,0.994565]]
2025-10-25T04:19:35.196Z,1761365975.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:35.294Z,1761365975.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:35.530Z,1761365975.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011397,0.994565,-0.103497],[-0.999796,-0.009607,0.017773],[0.016682,0.103678,0.994471]]
2025-10-25T04:19:35.545Z,1761365975.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:35.798Z,1761365975.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:35.939Z,1761365975.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011749,0.994577,-0.103335],[-0.999777,-0.009872,0.018660],[0.017539,0.103531,0.994472]]
2025-10-25T04:19:36.049Z,1761365976.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:36.302Z,1761365976.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:36.554Z,1761365976.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:36.806Z,1761365976.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:37.058Z,1761365977.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:37.144Z,1761365977.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012057,0.994389,-0.105097],[-0.999718,-0.009839,0.021605],[0.020450,0.105328,0.994227]]
2025-10-25T04:19:37.309Z,1761365977.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:37.549Z,1761365977.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012309,0.994317,-0.105748],[-0.999690,-0.009950,0.022812],[0.021630,0.105996,0.994131]]
2025-10-25T04:19:37.562Z,1761365977.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:37.625Z,1761365977.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:37.813Z,1761365977.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:37.954Z,1761365977.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013531,0.994258,-0.106152],[-0.999647,-0.011022,0.024187],[0.022878,0.106442,0.994056]]
2025-10-25T04:19:38.066Z,1761365978.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:38.317Z,1761365978.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:38.356Z,1761365978.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014088,0.994198,-0.106639],[-0.999609,-0.011429,0.025513],[0.024146,0.106957,0.993970]]
2025-10-25T04:19:38.569Z,1761365978.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:38.766Z,1761365978.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014816,0.994146,-0.107029],[-0.999568,-0.012011,0.026807],[0.025365,0.107380,0.993894]]
2025-10-25T04:19:38.822Z,1761365978.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:39.073Z,1761365979.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:39.166Z,1761365979.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014795,0.994138,-0.107103],[-0.999543,-0.011883,0.027779],[0.026343,0.107465,0.993860]]
2025-10-25T04:19:39.326Z,1761365979.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:39.568Z,1761365979.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015141,0.994089,-0.107510],[-0.999517,-0.012130,0.028606],[0.027133,0.107891,0.993792]]
2025-10-25T04:19:39.581Z,1761365979.581 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:39.643Z,1761365979.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:39.829Z,1761365979.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:39.977Z,1761365979.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015381,0.994011,-0.108195],[-0.999492,-0.012264,0.029413],[0.027910,0.108593,0.993694]]
2025-10-25T04:19:40.081Z,1761365980.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:40.334Z,1761365980.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:40.382Z,1761365980.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015986,0.994233,-0.106041],[-0.999456,-0.012829,0.030388],[0.028853,0.106469,0.993897]]
2025-10-25T04:19:40.585Z,1761365980.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:40.794Z,1761365980.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016086,0.994199,-0.106343],[-0.999436,-0.012851,0.031035],[0.029488,0.106783,0.993845]]
2025-10-25T04:19:40.837Z,1761365980.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:41.090Z,1761365981.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:41.185Z,1761365981.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016746,0.994180,-0.106426],[-0.999402,-0.013423,0.031864],[0.030250,0.106896,0.993810]]
2025-10-25T04:19:41.341Z,1761365981.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:41.589Z,1761365981.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016486,0.994194,-0.106330],[-0.999392,-0.013118,0.032294],[0.030711,0.106798,0.993806]]
2025-10-25T04:19:41.593Z,1761365981.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:41.650Z,1761365981.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:41.765Z,1761365981.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:19:41.846Z,1761365981.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:41.993Z,1761365981.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017124,0.994174,-0.106415],[-0.999362,-0.013682,0.032993],[0.031345,0.106912,0.993774]]
2025-10-25T04:19:42.097Z,1761365982.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:42.349Z,1761365982.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:42.401Z,1761365982.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017717,0.994122,-0.106805],[-0.999328,-0.014179,0.033794],[0.032081,0.107332,0.993706]]
2025-10-25T04:19:42.601Z,1761365982.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:42.769Z,1761365982.769 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:19:42.799Z,1761365982.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017528,0.994220,-0.105922],[-0.999323,-0.013993,0.034016],[0.032337,0.106447,0.993792]]
2025-10-25T04:19:42.853Z,1761365982.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:43.106Z,1761365983.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:43.204Z,1761365983.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018266,0.994292,-0.105114],[-0.999285,-0.014674,0.034844],[0.033103,0.105675,0.993850]]
2025-10-25T04:19:43.357Z,1761365983.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:43.609Z,1761365983.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:43.613Z,1761365983.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018896,0.994279,-0.105127],[-0.999254,-0.015237,0.035494],[0.033689,0.105719,0.993825]]
2025-10-25T04:19:43.687Z,1761365983.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:43.861Z,1761365983.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:44.012Z,1761365984.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019355,0.994402,-0.103872],[-0.999221,-0.015664,0.036226],[0.034396,0.104492,0.993931]]
2025-10-25T04:19:44.114Z,1761365984.114 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:44.367Z,1761365984.367 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:44.417Z,1761365984.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019503,0.994537,-0.102551],[-0.999193,-0.015786,0.036935],[0.035115,0.103189,0.994042]]
2025-10-25T04:19:44.617Z,1761365984.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:44.824Z,1761365984.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020383,0.994543,-0.102314],[-0.999144,-0.016578,0.037900],[0.035997,0.102999,0.994030]]
2025-10-25T04:19:44.869Z,1761365984.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:45.122Z,1761365985.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:45.226Z,1761365985.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020182,0.994537,-0.102411],[-0.999128,-0.016318,0.038421],[0.036540,0.103097,0.994000]]
2025-10-25T04:19:45.373Z,1761365985.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:45.628Z,1761365985.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020616,0.994536,-0.102340],[-0.999092,-0.016678,0.039192],[0.037271,0.103055,0.993977]]
2025-10-25T04:19:45.630Z,1761365985.630 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:45.692Z,1761365985.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:45.881Z,1761365985.881 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:46.032Z,1761365986.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020335,0.994576,-0.102003],[-0.999079,-0.016359,0.039665],[0.037781,0.102716,0.993993]]
2025-10-25T04:19:46.133Z,1761365986.133 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:46.388Z,1761365986.388 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:46.436Z,1761365986.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020363,0.994708,-0.100702],[-0.999072,-0.016422,0.039815],[0.037951,0.101420,0.994120]]
2025-10-25T04:19:46.638Z,1761365986.638 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:46.839Z,1761365986.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020380,0.994813,-0.099662],[-0.999053,-0.016431,0.040287],[0.038441,0.100388,0.994205]]
2025-10-25T04:19:46.890Z,1761365986.890 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:47.141Z,1761365987.141 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:47.245Z,1761365987.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020243,0.994735,-0.100458],[-0.999047,-0.016239,0.040512],[0.038668,0.101183,0.994116]]
2025-10-25T04:19:47.395Z,1761365987.395 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:47.650Z,1761365987.650 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:47.650Z,1761365987.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020818,0.994531,-0.102344],[-0.999016,-0.016682,0.041104],[0.039172,0.103099,0.993900]]
2025-10-25T04:19:47.712Z,1761365987.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:47.902Z,1761365987.902 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:48.079Z,1761365988.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020629,0.994357,-0.104059],[-0.999004,-0.016383,0.041494],[0.039555,0.104811,0.993705]]
2025-10-25T04:19:48.158Z,1761365988.158 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:48.411Z,1761365988.411 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:48.456Z,1761365988.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020798,0.994134,-0.106135],[-0.998976,-0.016398,0.042163],[0.040176,0.106903,0.993457]]
2025-10-25T04:19:48.662Z,1761365988.662 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:48.862Z,1761365988.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021751,0.994054,-0.106696],[-0.998919,-0.017222,0.043184],[0.041090,0.107520,0.993353]]
2025-10-25T04:19:48.915Z,1761365988.915 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:49.165Z,1761365989.165 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:49.272Z,1761365989.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021971,0.994052,-0.106672],[-0.998890,-0.017380,0.043786],[0.041672,0.107515,0.993330]]
2025-10-25T04:19:49.419Z,1761365989.419 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:49.669Z,1761365989.669 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:49.681Z,1761365989.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022128,0.994086,-0.106314],[-0.998849,-0.017456,0.044677],[0.042557,0.107180,0.993328]]
2025-10-25T04:19:49.740Z,1761365989.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:49.922Z,1761365989.922 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:50.072Z,1761365990.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021647,0.994142,-0.105888],[-0.998839,-0.016947,0.045088],[0.043030,0.106741,0.993355]]
2025-10-25T04:19:50.173Z,1761365990.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:50.428Z,1761365990.428 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:50.476Z,1761365990.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021918,0.994253,-0.104788],[-0.998786,-0.017151,0.046180],[0.044118,0.105673,0.993422]]
2025-10-25T04:19:50.685Z,1761365990.685 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:50.881Z,1761365990.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021141,0.994332,-0.104199],[-0.998785,-0.016365,0.046486],[0.044517,0.105055,0.993470]]
2025-10-25T04:19:50.933Z,1761365990.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:51.185Z,1761365991.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:51.294Z,1761365991.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020944,0.994383,-0.103753],[-0.998747,-0.016091,0.047394],[0.045459,0.104616,0.993473]]
2025-10-25T04:19:51.439Z,1761365991.439 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:51.691Z,1761365991.691 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:51.770Z,1761365991.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:51.942Z,1761365991.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:52.097Z,1761365992.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018827,0.994814,-0.099951],[-0.998704,-0.013983,0.048939],[0.047288,0.100743,0.993788]]
2025-10-25T04:19:52.195Z,1761365992.195 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:52.447Z,1761365992.447 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:52.500Z,1761365992.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017903,0.994920,-0.099062],[-0.998692,-0.013048,0.049437],[0.047894,0.099818,0.993852]]
2025-10-25T04:19:52.697Z,1761365992.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:52.902Z,1761365992.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017154,0.994897,-0.099426],[-0.998681,-0.012236,0.049865],[0.048394,0.100150,0.993795]]
2025-10-25T04:19:52.949Z,1761365992.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:53.201Z,1761365993.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:53.308Z,1761365993.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015948,0.994896,-0.099635],[-0.998694,-0.011013,0.049888],[0.048536,0.100300,0.993773]]
2025-10-25T04:19:53.455Z,1761365993.455 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:53.707Z,1761365993.707 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:53.712Z,1761365993.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015354,0.994754,-0.101137],[-0.998751,-0.010449,0.048853],[0.047539,0.101761,0.993672]]
2025-10-25T04:19:53.958Z,1761365993.958 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:54.128Z,1761365994.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014760,0.994599,-0.102734],[-0.998821,-0.009913,0.047527],[0.046252,0.103314,0.993573]]
2025-10-25T04:19:54.160Z,1761365994.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:54.209Z,1761365994.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:54.463Z,1761365994.463 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:54.530Z,1761365994.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014246,0.994592,-0.102880],[-0.998898,-0.009555,0.045943],[0.044712,0.103422,0.993632]]
2025-10-25T04:19:54.713Z,1761365994.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:54.921Z,1761365994.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014701,0.994587,-0.102866],[-0.998950,-0.010144,0.044684],[0.043399,0.103415,0.993691]]
2025-10-25T04:19:54.965Z,1761365994.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:55.217Z,1761365995.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:55.325Z,1761365995.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014952,0.994578,-0.102912],[-0.999008,-0.010541,0.043276],[0.041956,0.103457,0.993749]]
2025-10-25T04:19:55.472Z,1761365995.472 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:55.722Z,1761365995.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:55.735Z,1761365995.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015074,0.994497,-0.103676],[-0.999066,-0.010780,0.041856],[0.040508,0.104210,0.993730]]
2025-10-25T04:19:55.973Z,1761365995.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:56.132Z,1761365996.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015486,0.994548,-0.103119],[-0.999111,-0.011347,0.040606],[0.039214,0.103656,0.993840]]
2025-10-25T04:19:56.185Z,1761365996.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:56.226Z,1761365996.226 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:56.479Z,1761365996.479 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:56.729Z,1761365996.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:56.981Z,1761365996.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:57.233Z,1761365997.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:57.362Z,1761365997.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018754,0.994871,-0.099398],[-0.999158,-0.015021,0.038176],[0.036487,0.100031,0.994315]]
2025-10-25T04:19:57.488Z,1761365997.488 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:57.744Z,1761365997.744 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:57.766Z,1761365997.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019650,0.994761,-0.100327],[-0.999136,-0.015864,0.038401],[0.036608,0.100995,0.994213]]
2025-10-25T04:19:57.997Z,1761365997.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:58.198Z,1761365998.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:19:58.249Z,1761365998.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:58.501Z,1761365998.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:58.583Z,1761365998.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019643,0.994871,-0.099227],[-0.999132,-0.015885,0.038521],[0.036747,0.099898,0.994319]]
2025-10-25T04:19:58.753Z,1761365998.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:58.961Z,1761365998.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018521,0.995135,-0.096768],[-0.999177,-0.014928,0.037723],[0.036095,0.097387,0.994592]]
2025-10-25T04:19:59.006Z,1761365999.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:59.257Z,1761365999.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:59.365Z,1761365999.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018027,0.995196,-0.096227],[-0.999181,-0.014446,0.037791],[0.036219,0.096830,0.994642]]
2025-10-25T04:19:59.512Z,1761365999.512 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:59.761Z,1761365999.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:19:59.775Z,1761365999.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017310,0.995049,-0.097863],[-0.999201,-0.013688,0.037559],[0.036034,0.098435,0.994491]]
2025-10-25T04:20:00.014Z,1761366000.014 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:00.177Z,1761366000.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016462,0.995054,-0.097966],[-0.999212,-0.012832,0.037565],[0.036122,0.098508,0.994480]]
2025-10-25T04:20:00.277Z,1761366000.277 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:00.530Z,1761366000.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:00.612Z,1761366000.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015985,0.994952,-0.099071],[-0.999214,-0.012302,0.037679],[0.036270,0.099595,0.994367]]
2025-10-25T04:20:00.657Z,1761366000.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:00.781Z,1761366000.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:00.981Z,1761366000.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015293,0.994890,-0.099795],[-0.999215,-0.011560,0.037884],[0.036537,0.100296,0.994287]]
2025-10-25T04:20:01.033Z,1761366001.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:01.287Z,1761366001.287 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:01.386Z,1761366001.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014565,0.994875,-0.100061],[-0.999222,-0.010816,0.037914],[0.036638,0.100535,0.994259]]
2025-10-25T04:20:01.539Z,1761366001.539 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:01.789Z,1761366001.789 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:01.791Z,1761366001.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014448,0.994805,-0.100770],[-0.999206,-0.010621,0.038410],[0.037140,0.101245,0.994168]]
2025-10-25T04:20:02.041Z,1761366002.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:02.193Z,1761366002.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014064,0.994815,-0.100728],[-0.999199,-0.010208,0.038697],[0.037468,0.101192,0.994161]]
2025-10-25T04:20:02.294Z,1761366002.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:02.545Z,1761366002.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:02.640Z,1761366002.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014006,0.994938,-0.099513],[-0.999189,-0.010168,0.038964],[0.037755,0.099978,0.994273]]
2025-10-25T04:20:02.698Z,1761366002.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:02.797Z,1761366002.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:03.006Z,1761366003.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013838,0.995022,-0.098691],[-0.999182,-0.010008,0.039193],[0.038010,0.099153,0.994346]]
2025-10-25T04:20:03.049Z,1761366003.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:03.302Z,1761366003.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:03.403Z,1761366003.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013937,0.994999,-0.098912],[-0.999157,-0.010039,0.039793],[0.038601,0.099383,0.994300]]
2025-10-25T04:20:03.554Z,1761366003.554 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:03.806Z,1761366003.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:03.811Z,1761366003.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013708,0.995073,-0.098194],[-0.999155,-0.009827,0.039898],[0.038737,0.098658,0.994367]]
2025-10-25T04:20:04.057Z,1761366004.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:04.215Z,1761366004.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014154,0.995165,-0.097189],[-0.999137,-0.010281,0.040240],[0.039046,0.097675,0.994452]]
2025-10-25T04:20:04.310Z,1761366004.310 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:04.561Z,1761366004.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:04.668Z,1761366004.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014649,0.995075,-0.098038],[-0.999116,-0.010704,0.040646],[0.039396,0.098547,0.994352]]
2025-10-25T04:20:04.706Z,1761366004.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:04.813Z,1761366004.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:05.020Z,1761366005.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014686,0.995087,-0.097911],[-0.999113,-0.010739,0.040710],[0.039459,0.098422,0.994362]]
2025-10-25T04:20:05.067Z,1761366005.067 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:05.318Z,1761366005.318 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:05.424Z,1761366005.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015240,0.995064,-0.098055],[-0.999093,-0.011256,0.041061],[0.039754,0.098591,0.994334]]
2025-10-25T04:20:05.569Z,1761366005.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:05.822Z,1761366005.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:05.829Z,1761366005.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015478,0.995005,-0.098619],[-0.999085,-0.011456,0.041217],[0.039881,0.099167,0.994271]]
2025-10-25T04:20:06.074Z,1761366006.074 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:06.241Z,1761366006.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015902,0.994932,-0.099281],[-0.999071,-0.011833,0.041443],[0.040058,0.099848,0.994196]]
2025-10-25T04:20:06.326Z,1761366006.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:06.577Z,1761366006.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:06.670Z,1761366006.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015624,0.994953,-0.099115],[-0.999077,-0.011567,0.041379],[0.040023,0.099670,0.994215]]
2025-10-25T04:20:06.715Z,1761366006.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:06.829Z,1761366006.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:07.041Z,1761366007.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015261,0.995045,-0.098251],[-0.999079,-0.011232,0.041424],[0.040115,0.098792,0.994299]]
2025-10-25T04:20:07.081Z,1761366007.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:07.334Z,1761366007.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:07.445Z,1761366007.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014149,0.995087,-0.097985],[-0.999105,-0.010164,0.041053],[0.039856,0.098478,0.994341]]
2025-10-25T04:20:07.585Z,1761366007.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:07.838Z,1761366007.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:07.854Z,1761366007.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013186,0.995107,-0.097914],[-0.999135,-0.009251,0.040534],[0.039429,0.098364,0.994369]]
2025-10-25T04:20:08.089Z,1761366008.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:08.251Z,1761366008.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011529,0.995033,-0.098880],[-0.999179,-0.007622,0.039795],[0.038843,0.099257,0.994303]]
2025-10-25T04:20:08.343Z,1761366008.343 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:08.593Z,1761366008.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:08.667Z,1761366008.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009667,0.995052,-0.098886],[-0.999230,-0.005852,0.038797],[0.038026,0.099185,0.994342]]
2025-10-25T04:20:08.744Z,1761366008.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:08.845Z,1761366008.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:09.079Z,1761366009.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007314,0.995066,-0.098947],[-0.999284,-0.003601,0.037653],[0.037111,0.099151,0.994380]]
2025-10-25T04:20:09.107Z,1761366009.107 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:09.357Z,1761366009.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:09.609Z,1761366009.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:09.861Z,1761366009.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:09.886Z,1761366009.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002426,0.995061,-0.099234],[-0.999406,0.000999,0.034449],[0.034378,0.099258,0.994468]]
2025-10-25T04:20:10.113Z,1761366010.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:10.296Z,1761366010.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.000031,0.995001,-0.099869],[-0.999463,0.003241,0.032596],[0.032756,0.099817,0.994467]]
2025-10-25T04:20:10.368Z,1761366010.368 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:10.617Z,1761366010.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:10.707Z,1761366010.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001993,0.994959,-0.100260],[-0.999514,0.005103,0.030769],[0.031126,0.100150,0.994485]]
2025-10-25T04:20:10.793Z,1761366010.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:10.870Z,1761366010.870 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:11.096Z,1761366011.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003951,0.995069,-0.099108],[-0.999584,0.006760,0.028023],[0.028555,0.098956,0.994682]]
2025-10-25T04:20:11.122Z,1761366011.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:11.373Z,1761366011.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:11.501Z,1761366011.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004414,0.995090,-0.098880],[-0.999635,0.007028,0.026101],[0.026668,0.098729,0.994757]]
2025-10-25T04:20:11.625Z,1761366011.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:11.878Z,1761366011.878 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:11.906Z,1761366011.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004829,0.995176,-0.097983],[-0.999686,0.007216,0.024014],[0.024605,0.097837,0.994898]]
2025-10-25T04:20:12.130Z,1761366012.130 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:12.313Z,1761366012.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003434,0.995264,-0.097144],[-0.999730,0.005651,0.022559],[0.023001,0.097041,0.995015]]
2025-10-25T04:20:12.381Z,1761366012.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:12.633Z,1761366012.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:12.728Z,1761366012.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002054,0.995287,-0.096946],[-0.999760,0.004157,0.021490],[0.021792,0.096879,0.995058]]
2025-10-25T04:20:12.810Z,1761366012.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:12.886Z,1761366012.886 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:12.893Z,1761366012.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:20:13.139Z,1761366013.139 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:13.146Z,1761366013.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001318,0.995454,-0.095230],[-0.999800,0.000587,0.019976],[0.019942,0.095238,0.995255]]
2025-10-25T04:20:13.389Z,1761366013.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:13.641Z,1761366013.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:13.893Z,1761366013.893 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:13.897Z,1761366013.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:20:13.935Z,1761366013.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006823,0.995557,-0.093911],[-0.999805,-0.005050,0.019111],[0.018552,0.094023,0.995397]]
2025-10-25T04:20:14.145Z,1761366014.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:14.331Z,1761366014.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009582,0.995737,-0.091740],[-0.999793,-0.007893,0.018753],[0.017949,0.091901,0.995606]]
2025-10-25T04:20:14.397Z,1761366014.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:14.649Z,1761366014.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:14.736Z,1761366014.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012765,0.995838,-0.090245],[-0.999764,-0.011122,0.018686],[0.017605,0.090462,0.995744]]
2025-10-25T04:20:14.819Z,1761366014.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:14.901Z,1761366014.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:15.137Z,1761366015.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015328,0.995900,-0.089149],[-0.999730,-0.013707,0.018772],[0.017473,0.089412,0.995841]]
2025-10-25T04:20:15.153Z,1761366015.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:15.405Z,1761366015.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:15.540Z,1761366015.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017840,0.996000,-0.087555],[-0.999695,-0.016275,0.018563],[0.017064,0.087859,0.995987]]
2025-10-25T04:20:15.657Z,1761366015.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:15.910Z,1761366015.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:15.944Z,1761366015.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019866,0.996007,-0.087037],[-0.999664,-0.018337,0.018338],[0.016669,0.087372,0.996036]]
2025-10-25T04:20:16.161Z,1761366016.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:16.350Z,1761366016.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021843,0.996003,-0.086604],[-0.999630,-0.020352,0.018064],[0.016229,0.086967,0.996079]]
2025-10-25T04:20:16.414Z,1761366016.414 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:16.665Z,1761366016.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:16.760Z,1761366016.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023184,0.996004,-0.086242],[-0.999608,-0.021743,0.017611],[0.015665,0.086617,0.996119]]
2025-10-25T04:20:16.827Z,1761366016.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:16.917Z,1761366016.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:17.157Z,1761366017.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024270,0.996031,-0.085631],[-0.999591,-0.022883,0.017140],[0.015112,0.086012,0.996179]]
2025-10-25T04:20:17.169Z,1761366017.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:17.422Z,1761366017.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:17.561Z,1761366017.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025088,0.996047,-0.085206],[-0.999581,-0.023763,0.016525],[0.014435,0.085585,0.996226]]
2025-10-25T04:20:17.673Z,1761366017.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:17.926Z,1761366017.926 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:17.967Z,1761366017.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025100,0.995938,-0.086472],[-0.999598,-0.023861,0.015335],[0.013210,0.086822,0.996136]]
2025-10-25T04:20:18.178Z,1761366018.178 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:18.369Z,1761366018.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025142,0.995833,-0.087662],[-0.999608,-0.023966,0.014440],[0.012279,0.087990,0.996046]]
2025-10-25T04:20:18.437Z,1761366018.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:18.690Z,1761366018.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:18.783Z,1761366018.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023982,0.995862,-0.087657],[-0.999651,-0.022915,0.013158],[0.011094,0.087942,0.996064]]
2025-10-25T04:20:18.882Z,1761366018.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:18.942Z,1761366018.942 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:19.178Z,1761366019.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023429,0.995788,-0.088644],[-0.999676,-0.022456,0.011952],[0.009912,0.088895,0.995992]]
2025-10-25T04:20:19.193Z,1761366019.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:19.449Z,1761366019.449 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:19.582Z,1761366019.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022016,0.995781,-0.089084],[-0.999722,-0.021175,0.010384],[0.008453,0.089288,0.995970]]
2025-10-25T04:20:19.697Z,1761366019.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:19.953Z,1761366019.953 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:19.984Z,1761366019.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021687,0.995690,-0.090177],[-0.999739,-0.020949,0.009127],[0.007198,0.090351,0.995884]]
2025-10-25T04:20:20.201Z,1761366020.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:20.390Z,1761366020.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021221,0.995609,-0.091171],[-0.999756,-0.020578,0.007982],[0.006071,0.091318,0.995803]]
2025-10-25T04:20:20.453Z,1761366020.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:20.705Z,1761366020.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:20.793Z,1761366020.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020722,0.995552,-0.091904],[-0.999774,-0.020193,0.006677],[0.004791,0.092021,0.995746]]
2025-10-25T04:20:20.957Z,1761366020.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:21.197Z,1761366021.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020696,0.995468,-0.092813],[-0.999779,-0.020269,0.005536],[0.003630,0.092907,0.995668]]
2025-10-25T04:20:21.209Z,1761366021.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:21.253Z,1761366021.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:21.461Z,1761366021.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:21.610Z,1761366021.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020495,0.995393,-0.093667],[-0.999787,-0.020181,0.004298],[0.002388,0.093735,0.995594]]
2025-10-25T04:20:21.713Z,1761366021.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:21.965Z,1761366021.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:22.003Z,1761366022.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020598,0.995320,-0.094414],[-0.999787,-0.020393,0.003130],[0.001190,0.094458,0.995528]]
2025-10-25T04:20:22.218Z,1761366022.218 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:22.409Z,1761366022.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021357,0.995321,-0.094228],[-0.999772,-0.021234,0.002313],[0.000302,0.094256,0.995548]]
2025-10-25T04:20:22.469Z,1761366022.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:22.722Z,1761366022.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:22.816Z,1761366022.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022124,0.995283,-0.094458],[-0.999755,-0.022074,0.001584],[-0.000509,0.094469,0.995528]]
2025-10-25T04:20:22.973Z,1761366022.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:23.221Z,1761366023.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.023682,0.995207,-0.094884],[-0.999719,-0.023664,0.001321],[-0.000931,0.094888,0.995488]]
2025-10-25T04:20:23.225Z,1761366023.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:23.268Z,1761366023.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:23.477Z,1761366023.477 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:23.626Z,1761366023.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024761,0.995222,-0.094447],[-0.999692,-0.024801,0.000742],[-0.001604,0.094436,0.995530]]
2025-10-25T04:20:23.729Z,1761366023.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:23.981Z,1761366023.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:24.025Z,1761366024.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026051,0.995265,-0.093646],[-0.999659,-0.026123,0.000460],[-0.001988,0.093626,0.995605]]
2025-10-25T04:20:24.234Z,1761366024.234 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:24.431Z,1761366024.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026775,0.995291,-0.093163],[-0.999638,-0.026906,-0.000149],[-0.002655,0.093125,0.995651]]
2025-10-25T04:20:24.485Z,1761366024.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:24.738Z,1761366024.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:24.841Z,1761366024.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027912,0.995351,-0.092183],[-0.999606,-0.028056,-0.000264],[-0.002849,0.092139,0.995742]]
2025-10-25T04:20:24.989Z,1761366024.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:25.237Z,1761366025.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028942,0.995363,-0.091728],[-0.999576,-0.029117,-0.000569],[-0.003237,0.091673,0.995784]]
2025-10-25T04:20:25.241Z,1761366025.241 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:25.298Z,1761366025.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:25.493Z,1761366025.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:25.640Z,1761366025.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030167,0.995363,-0.091333],[-0.999538,-0.030375,-0.000895],[-0.003665,0.091264,0.995820]]
2025-10-25T04:20:25.745Z,1761366025.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:25.997Z,1761366025.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:26.047Z,1761366026.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031156,0.995314,-0.091543],[-0.999507,-0.031375,-0.000949],[-0.003817,0.091469,0.995801]]
2025-10-25T04:20:26.249Z,1761366026.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:26.450Z,1761366026.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032396,0.995265,-0.091639],[-0.999467,-0.032635,-0.001107],[-0.004093,0.091554,0.995792]]
2025-10-25T04:20:26.502Z,1761366026.502 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:26.753Z,1761366026.753 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:26.852Z,1761366026.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033399,0.995149,-0.092535],[-0.999434,-0.033630,-0.000943],[-0.004050,0.092451,0.995709]]
2025-10-25T04:20:27.006Z,1761366027.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:27.257Z,1761366027.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:27.258Z,1761366027.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034438,0.995089,-0.092805],[-0.999398,-0.034687,-0.001077],[-0.004290,0.092712,0.995684]]
2025-10-25T04:20:27.321Z,1761366027.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:27.509Z,1761366027.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:27.663Z,1761366027.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035453,0.995036,-0.092990],[-0.999362,-0.035711,-0.001109],[-0.004425,0.092892,0.995666]]
2025-10-25T04:20:27.762Z,1761366027.762 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:28.013Z,1761366028.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:28.067Z,1761366028.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036461,0.995028,-0.092683],[-0.999326,-0.036701,-0.000883],[-0.004280,0.092588,0.995695]]
2025-10-25T04:20:28.266Z,1761366028.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:28.520Z,1761366028.520 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:28.769Z,1761366028.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:28.872Z,1761366028.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038882,0.994909,-0.092972],[-0.999235,-0.039104,-0.000575],[-0.004208,0.092879,0.995669]]
2025-10-25T04:20:29.024Z,1761366029.024 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:29.273Z,1761366029.273 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:29.290Z,1761366029.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.039872,0.994882,-0.092843],[-0.999196,-0.040094,-0.000528],[-0.004248,0.092747,0.995681]]
2025-10-25T04:20:29.351Z,1761366029.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:29.525Z,1761366029.525 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:29.679Z,1761366029.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.040761,0.994829,-0.093027],[-0.999160,-0.040974,-0.000381],[-0.004190,0.092933,0.995664]]
2025-10-25T04:20:29.778Z,1761366029.778 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:30.031Z,1761366030.031 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:30.085Z,1761366030.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041666,0.994770,-0.093257],[-0.999122,-0.041896,-0.000504],[-0.004408,0.093154,0.995642]]
2025-10-25T04:20:30.282Z,1761366030.282 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:30.534Z,1761366030.534 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:30.785Z,1761366030.785 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:30.898Z,1761366030.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044166,0.994561,-0.094323],[-0.999014,-0.044402,-0.000409],[-0.004595,0.094212,0.995542]]
2025-10-25T04:20:31.040Z,1761366031.040 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:31.294Z,1761366031.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:31.307Z,1761366031.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044762,0.994578,-0.093865],[-0.998986,-0.045012,-0.000552],[-0.004774,0.093745,0.995585]]
2025-10-25T04:20:31.357Z,1761366031.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:31.545Z,1761366031.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:31.699Z,1761366031.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044941,0.994467,-0.094954],[-0.998976,-0.045231,-0.000905],[-0.005195,0.094816,0.995481]]
2025-10-25T04:20:31.798Z,1761366031.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:32.051Z,1761366032.051 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:32.109Z,1761366032.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045402,0.994499,-0.094398],[-0.998954,-0.045711,-0.001110],[-0.005419,0.094249,0.995534]]
2025-10-25T04:20:32.302Z,1761366032.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:32.508Z,1761366032.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046117,0.994487,-0.094173],[-0.998920,-0.046446,-0.001301],[-0.005667,0.094011,0.995555]]
2025-10-25T04:20:32.553Z,1761366032.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:32.806Z,1761366032.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:32.912Z,1761366032.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046400,0.994491,-0.093997],[-0.998905,-0.046755,-0.001578],[-0.005964,0.093821,0.995571]]
2025-10-25T04:20:33.059Z,1761366033.059 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:33.309Z,1761366033.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:33.318Z,1761366033.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047288,0.994432,-0.094169],[-0.998862,-0.047668,-0.001785],[-0.006264,0.093978,0.995555]]
2025-10-25T04:20:33.375Z,1761366033.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:33.561Z,1761366033.561 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:33.728Z,1761366033.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047871,0.994407,-0.094140],[-0.998832,-0.048272,-0.001985],[-0.006518,0.093935,0.995557]]
2025-10-25T04:20:33.814Z,1761366033.814 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:34.067Z,1761366034.067 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:34.124Z,1761366034.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048785,0.994341,-0.094371],[-0.998786,-0.049208,-0.002158],[-0.006790,0.094151,0.995535]]
2025-10-25T04:20:34.317Z,1761366034.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:34.528Z,1761366034.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049958,0.994202,-0.095222],[-0.998727,-0.050390,-0.002129],[-0.006915,0.094994,0.995454]]
2025-10-25T04:20:34.569Z,1761366034.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:34.821Z,1761366034.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:34.934Z,1761366034.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050246,0.994157,-0.095533],[-0.998711,-0.050709,-0.002425],[-0.007255,0.095288,0.995423]]
2025-10-25T04:20:35.076Z,1761366035.076 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:35.325Z,1761366035.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:35.339Z,1761366035.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051123,0.994107,-0.095589],[-0.998665,-0.051600,-0.002521],[-0.007438,0.095333,0.995418]]
2025-10-25T04:20:35.395Z,1761366035.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:35.577Z,1761366035.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:35.830Z,1761366035.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:36.083Z,1761366036.083 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:36.146Z,1761366036.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052045,0.994047,-0.095712],[-0.998613,-0.052573,-0.002998],[-0.008012,0.095424,0.995404]]
2025-10-25T04:20:36.334Z,1761366036.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:36.548Z,1761366036.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052552,0.994010,-0.095823],[-0.998585,-0.053085,-0.003023],[-0.008091,0.095529,0.995394]]
2025-10-25T04:20:36.585Z,1761366036.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:36.837Z,1761366036.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:36.952Z,1761366036.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052685,0.994025,-0.095597],[-0.998574,-0.053265,-0.003530],[-0.008601,0.095275,0.995414]]
2025-10-25T04:20:37.091Z,1761366037.091 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:37.341Z,1761366037.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:37.358Z,1761366037.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053084,0.994015,-0.095483],[-0.998551,-0.053679,-0.003670],[-0.008774,0.095150,0.995424]]
2025-10-25T04:20:37.411Z,1761366037.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:37.593Z,1761366037.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:37.764Z,1761366037.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053372,0.994046,-0.094991],[-0.998534,-0.053985,-0.003892],[-0.008997,0.094644,0.995471]]
2025-10-25T04:20:37.845Z,1761366037.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:38.099Z,1761366038.099 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:38.165Z,1761366038.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053610,0.994047,-0.094853],[-0.998519,-0.054246,-0.004136],[-0.009257,0.094491,0.995483]]
2025-10-25T04:20:38.349Z,1761366038.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:38.568Z,1761366038.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054129,0.994037,-0.094660],[-0.998491,-0.054767,-0.004150],[-0.009309,0.094292,0.995501]]
2025-10-25T04:20:38.601Z,1761366038.601 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:38.853Z,1761366038.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:38.973Z,1761366038.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055179,0.993962,-0.094846],[-0.998434,-0.055802,-0.003922],[-0.009191,0.094481,0.995484]]
2025-10-25T04:20:39.106Z,1761366039.106 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:39.357Z,1761366039.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:39.376Z,1761366039.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055713,0.993934,-0.094822],[-0.998404,-0.056337,-0.003911],[-0.009229,0.094453,0.995486]]
2025-10-25T04:20:39.427Z,1761366039.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:39.609Z,1761366039.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:39.779Z,1761366039.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056924,0.993811,-0.095392],[-0.998336,-0.057547,-0.003790],[-0.009256,0.095017,0.995433]]
2025-10-25T04:20:39.862Z,1761366039.862 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:40.115Z,1761366040.115 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:40.198Z,1761366040.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057875,0.993775,-0.095192],[-0.998280,-0.058499,-0.003775],[-0.009320,0.094810,0.995452]]
2025-10-25T04:20:40.368Z,1761366040.368 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:40.594Z,1761366040.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059097,0.993713,-0.095088],[-0.998208,-0.059726,-0.003783],[-0.009438,0.094694,0.995462]]
2025-10-25T04:20:40.617Z,1761366040.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:40.869Z,1761366040.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:40.992Z,1761366040.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060476,0.993628,-0.095107],[-0.998125,-0.061097,-0.003626],[-0.009414,0.094710,0.995460]]
2025-10-25T04:20:41.123Z,1761366041.123 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:41.373Z,1761366041.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:41.397Z,1761366041.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062031,0.993554,-0.094883],[-0.998030,-0.062644,-0.003496],[-0.009418,0.094479,0.995482]]
2025-10-25T04:20:41.445Z,1761366041.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:41.625Z,1761366041.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:41.802Z,1761366041.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063799,0.993455,-0.094745],[-0.997920,-0.064385,-0.003144],[-0.009223,0.094347,0.995497]]
2025-10-25T04:20:41.877Z,1761366041.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:42.129Z,1761366042.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:42.218Z,1761366042.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065377,0.993383,-0.094420],[-0.997819,-0.065945,-0.002903],[-0.009110,0.094024,0.995528]]
2025-10-25T04:20:42.382Z,1761366042.382 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:42.612Z,1761366042.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066975,0.993320,-0.093963],[-0.997715,-0.067519,-0.002619],[-0.008946,0.093573,0.995572]]
2025-10-25T04:20:42.633Z,1761366042.633 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:42.885Z,1761366042.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:43.013Z,1761366043.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.068489,0.993227,-0.093863],[-0.997612,-0.069024,-0.002466],[-0.008928,0.093470,0.995582]]
2025-10-25T04:20:43.138Z,1761366043.138 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:43.389Z,1761366043.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:43.477Z,1761366043.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:43.641Z,1761366043.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:43.825Z,1761366043.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071039,0.993126,-0.093029],[-0.997432,-0.071583,-0.002514],[-0.009156,0.092612,0.995660]]
2025-10-25T04:20:43.894Z,1761366043.894 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:44.037Z,1761366044.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:20:44.145Z,1761366044.145 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:44.247Z,1761366044.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.072107,0.993098,-0.092504],[-0.997352,-0.072675,-0.002783],[-0.009487,0.092059,0.995708]]
2025-10-25T04:20:44.397Z,1761366044.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:44.629Z,1761366044.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073341,0.993044,-0.092116],[-0.997261,-0.073912,-0.002790],[-0.009579,0.091659,0.995744]]
2025-10-25T04:20:44.649Z,1761366044.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:44.901Z,1761366044.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:45.032Z,1761366045.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074821,0.992963,-0.091798],[-0.997150,-0.075396,-0.002807],[-0.009709,0.091326,0.995774]]
2025-10-25T04:20:45.041Z,1761366045.041 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:20:45.153Z,1761366045.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:45.406Z,1761366045.406 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:45.436Z,1761366045.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075133,0.992975,-0.091408],[-0.997122,-0.075744,-0.003226],[-0.010127,0.090902,0.995808]]
2025-10-25T04:20:45.485Z,1761366045.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:45.657Z,1761366045.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:45.845Z,1761366045.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076142,0.992948,-0.090869],[-0.997043,-0.076766,-0.003384],[-0.010336,0.090343,0.995857]]
2025-10-25T04:20:45.911Z,1761366045.911 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:46.161Z,1761366046.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:46.276Z,1761366046.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077163,0.992893,-0.090607],[-0.996964,-0.077793,-0.003436],[-0.010460,0.090067,0.995881]]
2025-10-25T04:20:46.413Z,1761366046.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:46.651Z,1761366046.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077251,0.992937,-0.090045],[-0.996956,-0.077888,-0.003580],[-0.010568,0.089494,0.995931]]
2025-10-25T04:20:46.666Z,1761366046.666 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:46.917Z,1761366046.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:47.065Z,1761366047.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078144,0.992883,-0.089870],[-0.996886,-0.078781,-0.003560],[-0.010614,0.089312,0.995947]]
2025-10-25T04:20:47.169Z,1761366047.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:47.422Z,1761366047.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:47.456Z,1761366047.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078282,0.992868,-0.089922],[-0.996875,-0.078913,-0.003473],[-0.010544,0.089369,0.995943]]
2025-10-25T04:20:47.512Z,1761366047.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:47.673Z,1761366047.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:47.861Z,1761366047.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078191,0.992802,-0.090725],[-0.996882,-0.078833,-0.003509],[-0.010636,0.090168,0.995870]]
2025-10-25T04:20:47.925Z,1761366047.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:48.177Z,1761366048.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:48.307Z,1761366048.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077931,0.992733,-0.091691],[-0.996897,-0.078619,-0.003901],[-0.011081,0.091103,0.995780]]
2025-10-25T04:20:48.430Z,1761366048.430 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:48.673Z,1761366048.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077311,0.992779,-0.091725],[-0.996943,-0.078021,-0.004165],[-0.011291,0.091122,0.995776]]
2025-10-25T04:20:48.681Z,1761366048.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:48.933Z,1761366048.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:49.081Z,1761366049.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077201,0.992720,-0.092448],[-0.996950,-0.077927,-0.004263],[-0.011436,0.091837,0.995708]]
2025-10-25T04:20:49.185Z,1761366049.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:49.438Z,1761366049.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:49.535Z,1761366049.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:49.690Z,1761366049.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:49.882Z,1761366049.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076930,0.992596,-0.093993],[-0.996971,-0.077665,-0.004172],[-0.011441,0.093387,0.995564]]
2025-10-25T04:20:49.943Z,1761366049.943 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:50.193Z,1761366050.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:50.446Z,1761366050.446 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:50.691Z,1761366050.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076998,0.992543,-0.094494],[-0.996967,-0.077720,-0.003977],[-0.011292,0.093901,0.995517]]
2025-10-25T04:20:50.697Z,1761366050.697 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:50.949Z,1761366050.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:51.092Z,1761366051.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077883,0.992373,-0.095546],[-0.996900,-0.078592,-0.003669],[-0.011151,0.094964,0.995418]]
2025-10-25T04:20:51.201Z,1761366051.201 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:51.454Z,1761366051.454 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:51.499Z,1761366051.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078713,0.992237,-0.096277],[-0.996836,-0.079411,-0.003429],[-0.011048,0.095703,0.995349]]
2025-10-25T04:20:51.536Z,1761366051.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:51.705Z,1761366051.705 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:51.900Z,1761366051.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079881,0.992063,-0.097112],[-0.996744,-0.080568,-0.003171],[-0.010970,0.096542,0.995268]]
2025-10-25T04:20:51.959Z,1761366051.959 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:52.210Z,1761366052.210 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:52.307Z,1761366052.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081269,0.991957,-0.097040],[-0.996631,-0.081955,-0.003101],[-0.011028,0.096461,0.995276]]
2025-10-25T04:20:52.461Z,1761366052.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:52.713Z,1761366052.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:52.719Z,1761366052.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083296,0.991887,-0.096027],[-0.996463,-0.083979,-0.003088],[-0.011128,0.095430,0.995374]]
2025-10-25T04:20:52.965Z,1761366052.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:53.149Z,1761366053.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085654,0.991800,-0.094850],[-0.996261,-0.086341,-0.003150],[-0.011313,0.094225,0.995487]]
2025-10-25T04:20:53.222Z,1761366053.222 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:53.473Z,1761366053.473 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:53.516Z,1761366053.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088345,0.991688,-0.093543],[-0.996023,-0.089036,-0.003224],[-0.011526,0.092887,0.995610]]
2025-10-25T04:20:53.562Z,1761366053.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:53.726Z,1761366053.726 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:53.922Z,1761366053.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091594,0.991497,-0.092437],[-0.995730,-0.092269,-0.003048],[-0.011551,0.091763,0.995714]]
2025-10-25T04:20:53.977Z,1761366053.977 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:54.229Z,1761366054.229 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:54.324Z,1761366054.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094289,0.991357,-0.091218],[-0.995476,-0.094963,-0.003060],[-0.011695,0.090517,0.995826]]
2025-10-25T04:20:54.481Z,1761366054.481 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:54.729Z,1761366054.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096802,0.991075,-0.091653],[-0.995238,-0.097439,-0.002488],[-0.011397,0.090975,0.995788]]
2025-10-25T04:20:54.733Z,1761366054.733 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:54.985Z,1761366054.985 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:55.238Z,1761366055.238 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:55.490Z,1761366055.490 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:55.541Z,1761366055.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100739,0.990865,-0.089655],[-0.994846,-0.101364,-0.002435],[-0.011500,0.088948,0.995970]]
2025-10-25T04:20:55.579Z,1761366055.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:55.741Z,1761366055.741 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:55.941Z,1761366055.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101591,0.990800,-0.089417],[-0.994759,-0.102221,-0.002487],[-0.011604,0.088696,0.995991]]
2025-10-25T04:20:55.994Z,1761366055.994 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:56.245Z,1761366056.245 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:56.346Z,1761366056.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102118,0.990739,-0.089491],[-0.994699,-0.102789,-0.002904],[-0.012076,0.088720,0.995983]]
2025-10-25T04:20:56.498Z,1761366056.498 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:56.749Z,1761366056.749 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:56.750Z,1761366056.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102106,0.990660,-0.090368],[-0.994697,-0.102801,-0.003058],[-0.012320,0.089577,0.995904]]
2025-10-25T04:20:57.001Z,1761366057.001 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:57.154Z,1761366057.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101935,0.990634,-0.090850],[-0.994709,-0.102676,-0.003502],[-0.012797,0.090012,0.995858]]
2025-10-25T04:20:57.254Z,1761366057.254 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:57.506Z,1761366057.506 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:57.558Z,1761366057.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102020,0.990598,-0.091147],[-0.994695,-0.102796,-0.003852],[-0.013186,0.090270,0.995830]]
2025-10-25T04:20:57.610Z,1761366057.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:57.757Z,1761366057.757 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:57.961Z,1761366057.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101245,0.990608,-0.091893],[-0.994771,-0.102047,-0.004055],[-0.013394,0.091002,0.995761]]
2025-10-25T04:20:58.009Z,1761366058.009 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:58.261Z,1761366058.261 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:58.366Z,1761366058.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100930,0.990649,-0.091803],[-0.994797,-0.101774,-0.004551],[-0.013851,0.090866,0.995767]]
2025-10-25T04:20:58.514Z,1761366058.514 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:58.765Z,1761366058.765 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:58.770Z,1761366058.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099894,0.990775,-0.091580],[-0.994898,-0.100765,-0.004930],[-0.014112,0.090620,0.995785]]
2025-10-25T04:20:59.018Z,1761366059.018 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:59.171Z,1761366059.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099356,0.990796,-0.091937],[-0.994951,-0.100236,-0.004992],[-0.014162,0.090977,0.995752]]
2025-10-25T04:20:59.271Z,1761366059.271 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:59.521Z,1761366059.521 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:59.579Z,1761366059.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097529,0.990894,-0.092826],[-0.995138,-0.098379,-0.004611],[-0.013701,0.091925,0.995672]]
2025-10-25T04:20:59.636Z,1761366059.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:20:59.773Z,1761366059.773 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:20:59.991Z,1761366059.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095148,0.991039,-0.093748],[-0.995373,-0.095984,-0.004436],[-0.013394,0.092892,0.995586]]
2025-10-25T04:21:00.028Z,1761366060.028 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:00.278Z,1761366060.278 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:00.384Z,1761366060.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093001,0.991145,-0.094771],[-0.995581,-0.093812,-0.004131],[-0.012985,0.093968,0.995490]]
2025-10-25T04:21:00.530Z,1761366060.530 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:00.781Z,1761366060.781 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:00.794Z,1761366060.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090576,0.991333,-0.095153],[-0.995807,-0.091384,-0.004160],[-0.012819,0.094377,0.995454]]
2025-10-25T04:21:01.033Z,1761366061.033 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:01.194Z,1761366061.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088120,0.991567,-0.095027],[-0.996028,-0.088932,-0.004337],[-0.012752,0.094268,0.995465]]
2025-10-25T04:21:01.289Z,1761366061.289 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:01.538Z,1761366061.538 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:01.607Z,1761366061.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084879,0.991678,-0.096797],[-0.996307,-0.085736,-0.004714],[-0.012974,0.096040,0.995293]]
2025-10-25T04:21:01.651Z,1761366061.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:01.790Z,1761366061.790 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:02.008Z,1761366062.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082803,0.991682,-0.098546],[-0.996482,-0.083676,-0.004753],[-0.012959,0.097806,0.995121]]
2025-10-25T04:21:02.042Z,1761366062.042 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:02.295Z,1761366062.295 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:02.409Z,1761366062.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081166,0.991707,-0.099646],[-0.996623,-0.082004,-0.004330],[-0.012466,0.098958,0.995013]]
2025-10-25T04:21:02.546Z,1761366062.546 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:02.797Z,1761366062.797 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:02.813Z,1761366062.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080826,0.991663,-0.100354],[-0.996653,-0.081644,-0.004064],[-0.012224,0.099689,0.994943]]
2025-10-25T04:21:03.050Z,1761366063.050 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:03.218Z,1761366063.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080644,0.991687,-0.100269],[-0.996675,-0.081406,-0.003520],[-0.011653,0.099652,0.994954]]
2025-10-25T04:21:03.302Z,1761366063.302 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:03.553Z,1761366063.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:03.620Z,1761366063.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081525,0.991571,-0.100700],[-0.996611,-0.082215,-0.002712],[-0.010968,0.100138,0.994913]]
2025-10-25T04:21:03.678Z,1761366063.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:03.806Z,1761366063.806 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:04.058Z,1761366064.058 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:04.309Z,1761366064.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:04.428Z,1761366064.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083013,0.991369,-0.101470],[-0.996503,-0.083553,-0.001068],[-0.009537,0.101027,0.994838]]
2025-10-25T04:21:04.563Z,1761366064.563 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:04.813Z,1761366064.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:05.066Z,1761366065.066 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:05.250Z,1761366065.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088138,0.990939,-0.101344],[-0.996077,-0.088488,0.001042],[-0.007935,0.101039,0.994851]]
2025-10-25T04:21:05.317Z,1761366065.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:05.571Z,1761366065.571 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:05.647Z,1761366065.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089238,0.990866,-0.101096],[-0.995982,-0.089544,0.001516],[-0.007550,0.100825,0.994875]]
2025-10-25T04:21:05.684Z,1761366065.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:05.822Z,1761366065.822 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:06.045Z,1761366066.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090900,0.990720,-0.101053],[-0.995835,-0.091151,0.002141],[-0.007090,0.100827,0.994879]]
2025-10-25T04:21:06.073Z,1761366066.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:06.325Z,1761366066.325 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:06.449Z,1761366066.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091778,0.990613,-0.101308],[-0.995757,-0.091982,0.002662],[-0.006682,0.101122,0.994852]]
2025-10-25T04:21:06.580Z,1761366066.580 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:06.829Z,1761366066.829 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:06.857Z,1761366066.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092448,0.990568,-0.101136],[-0.995696,-0.092633,0.002880],[-0.006516,0.100967,0.994869]]
2025-10-25T04:21:07.081Z,1761366067.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:07.268Z,1761366067.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093238,0.990488,-0.101194],[-0.995624,-0.093400,0.003153],[-0.006329,0.101046,0.994862]]
2025-10-25T04:21:07.335Z,1761366067.335 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:07.588Z,1761366067.588 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:07.661Z,1761366067.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092510,0.990723,-0.099548],[-0.995690,-0.092703,0.002700],[-0.006553,0.099369,0.995029]]
2025-10-25T04:21:07.712Z,1761366067.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:07.838Z,1761366067.838 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:08.068Z,1761366068.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.092240,0.990820,-0.098833],[-0.995715,-0.092439,0.002573],[-0.006587,0.098647,0.995101]]
2025-10-25T04:21:08.090Z,1761366068.090 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:08.341Z,1761366068.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:08.472Z,1761366068.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091606,0.990968,-0.097935],[-0.995771,-0.091841,0.002107],[-0.006906,0.097714,0.995191]]
2025-10-25T04:21:08.595Z,1761366068.595 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:08.845Z,1761366068.845 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:08.873Z,1761366068.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090704,0.991201,-0.096404],[-0.995854,-0.090952,0.001832],[-0.006953,0.096171,0.995341]]
2025-10-25T04:21:09.097Z,1761366069.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:09.368Z,1761366069.368 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:09.619Z,1761366069.619 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:09.681Z,1761366069.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087915,0.991451,-0.096415],[-0.996101,-0.088216,0.001147],[-0.007368,0.096139,0.995341]]
2025-10-25T04:21:09.739Z,1761366069.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:09.869Z,1761366069.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:10.122Z,1761366070.122 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:10.373Z,1761366070.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:10.489Z,1761366070.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084767,0.991706,-0.096607],[-0.996368,-0.085151,0.000155],[-0.008072,0.096269,0.995323]]
2025-10-25T04:21:10.628Z,1761366070.628 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:10.877Z,1761366070.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:10.894Z,1761366070.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083062,0.991860,-0.096509],[-0.996507,-0.083509,-0.000593],[-0.008647,0.096123,0.995332]]
2025-10-25T04:21:11.129Z,1761366071.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:11.301Z,1761366071.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081891,0.992004,-0.096027],[-0.996601,-0.082376,-0.001090],[-0.008992,0.095611,0.995378]]
2025-10-25T04:21:11.382Z,1761366071.382 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:11.635Z,1761366071.635 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:11.702Z,1761366071.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080516,0.992137,-0.095818],[-0.996710,-0.081035,-0.001527],[-0.009280,0.095380,0.995398]]
2025-10-25T04:21:11.746Z,1761366071.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:11.885Z,1761366071.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:12.105Z,1761366072.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078808,0.992128,-0.097321],[-0.996843,-0.079379,-0.001997],[-0.009706,0.096856,0.995251]]
2025-10-25T04:21:12.139Z,1761366072.139 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:12.390Z,1761366072.390 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:12.509Z,1761366072.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077973,0.992067,-0.098605],[-0.996906,-0.078572,-0.002198],[-0.009928,0.098129,0.995124]]
2025-10-25T04:21:12.646Z,1761366072.646 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:12.895Z,1761366072.895 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:12.916Z,1761366072.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076816,0.992167,-0.098506],[-0.996994,-0.077434,-0.002468],[-0.010076,0.098020,0.995133]]
2025-10-25T04:21:13.149Z,1761366073.149 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:13.318Z,1761366073.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075664,0.992275,-0.098310],[-0.997076,-0.076346,-0.003187],[-0.010668,0.097782,0.995151]]
2025-10-25T04:21:13.397Z,1761366073.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:13.651Z,1761366073.651 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:13.725Z,1761366073.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074727,0.992369,-0.098075],[-0.997147,-0.075412,-0.003295],[-0.010666,0.097549,0.995174]]
2025-10-25T04:21:13.777Z,1761366073.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:13.901Z,1761366073.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:14.125Z,1761366074.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075031,0.992270,-0.098841],[-0.997123,-0.075725,-0.003284],[-0.010743,0.098311,0.995098]]
2025-10-25T04:21:14.154Z,1761366074.154 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:14.405Z,1761366074.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:14.531Z,1761366074.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074914,0.992294,-0.098697],[-0.997134,-0.075592,-0.003148],[-0.010585,0.098178,0.995113]]
2025-10-25T04:21:14.659Z,1761366074.659 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:14.910Z,1761366074.910 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:14.932Z,1761366074.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.075654,0.992233,-0.098746],[-0.997081,-0.076301,-0.002782],[-0.010295,0.098247,0.995109]]
2025-10-25T04:21:15.161Z,1761366075.161 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:15.181Z,1761366075.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:21:15.337Z,1761366075.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076792,0.992145,-0.098746],[-0.996997,-0.077401,-0.002342],[-0.009967,0.098270,0.995110]]
2025-10-25T04:21:15.413Z,1761366075.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:15.668Z,1761366075.668 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:15.799Z,1761366075.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:15.917Z,1761366075.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:16.146Z,1761366076.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080574,0.991956,-0.097630],[-0.996704,-0.081109,-0.001520],[-0.009426,0.097185,0.995222]]
2025-10-25T04:21:16.169Z,1761366076.169 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:16.185Z,1761366076.185 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:21:16.422Z,1761366076.422 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:16.673Z,1761366076.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:16.925Z,1761366076.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:16.953Z,1761366076.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084250,0.991748,-0.096638],[-0.996405,-0.084711,-0.000673],[-0.008853,0.096234,0.995319]]
2025-10-25T04:21:17.177Z,1761366077.177 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:17.357Z,1761366077.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085774,0.991646,-0.096343],[-0.996277,-0.086204,-0.000301],[-0.008604,0.095958,0.995348]]
2025-10-25T04:21:17.431Z,1761366077.431 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:17.681Z,1761366077.681 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:17.768Z,1761366077.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087883,0.991478,-0.096170],[-0.996097,-0.088268,0.000258],[-0.008233,0.095818,0.995365]]
2025-10-25T04:21:17.831Z,1761366077.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:17.933Z,1761366077.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:18.165Z,1761366078.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089154,0.991364,-0.096168],[-0.995985,-0.089520,0.000510],[-0.008104,0.095827,0.995365]]
2025-10-25T04:21:18.185Z,1761366078.185 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:18.438Z,1761366078.438 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:18.690Z,1761366078.690 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:18.941Z,1761366078.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:18.972Z,1761366078.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090312,0.991381,-0.094913],[-0.995878,-0.090700,0.000220],[-0.008391,0.094542,0.995486]]
2025-10-25T04:21:19.193Z,1761366079.193 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:19.446Z,1761366079.446 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:19.698Z,1761366079.698 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:19.796Z,1761366079.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090535,0.991465,-0.093815],[-0.995852,-0.090981,-0.000486],[-0.009018,0.093382,0.995589]]
2025-10-25T04:21:19.857Z,1761366079.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:19.949Z,1761366079.949 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:20.202Z,1761366080.202 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:20.453Z,1761366080.453 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:20.598Z,1761366080.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089659,0.991670,-0.092472],[-0.995925,-0.090174,-0.001398],[-0.009725,0.091970,0.995714]]
2025-10-25T04:21:20.706Z,1761366080.706 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:20.957Z,1761366080.957 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:20.996Z,1761366080.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088862,0.991736,-0.092533],[-0.995997,-0.089380,-0.001454],[-0.009713,0.092034,0.995709]]
2025-10-25T04:21:21.209Z,1761366081.209 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:21.396Z,1761366081.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.087571,0.991772,-0.093380],[-0.996106,-0.088142,-0.002004],[-0.010218,0.092840,0.995629]]
2025-10-25T04:21:21.461Z,1761366081.461 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:21.713Z,1761366081.713 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:21.826Z,1761366081.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.085663,0.991878,-0.094024],[-0.996266,-0.086300,-0.002720],[-0.010812,0.093440,0.995566]]
2025-10-25T04:21:21.866Z,1761366081.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:21.965Z,1761366081.965 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:22.217Z,1761366082.217 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:22.469Z,1761366082.469 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:22.617Z,1761366082.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083755,0.991936,-0.095124],[-0.996425,-0.084425,-0.003028],[-0.011035,0.094530,0.995461]]
2025-10-25T04:21:22.648Z,1761366082.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](INFO): Timed out from 2025-10-25T04:16:22.4Z
2025-10-25T04:21:22.648Z,1761366082.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout] Running Loop=1
2025-10-25T04:21:22.648Z,1761366082.648 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2025-10-25T04:21:22.649Z,1761366082.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Running Loop=1
2025-10-25T04:21:22.649Z,1761366082.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A](IMPORTANT): Timed out while executing search pattern around dock waypoint.
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Stopped
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2025-10-25T04:21:22.651Z,1761366082.651 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T04:21:22.652Z,1761366082.652 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Running Loop=1
2025-10-25T04:21:22.722Z,1761366082.722 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:22.973Z,1761366082.973 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:23.016Z,1761366083.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082614,0.992087,-0.094543],[-0.996517,-0.083317,-0.003511],[-0.011360,0.093923,0.995515]]
2025-10-25T04:21:23.097Z,1761366083.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H](IMPORTANT): Homing sequence timed out prior to docking.
2025-10-25T04:21:23.097Z,1761366083.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Stopped
2025-10-25T04:21:23.097Z,1761366083.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Running Loop=1
2025-10-25T04:21:23.225Z,1761366083.225 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:23.420Z,1761366083.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082374,0.992133,-0.094264],[-0.996536,-0.083083,-0.003616],[-0.011419,0.093640,0.995541]]
2025-10-25T04:21:23.445Z,1761366083.445 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Stopped
2025-10-25T04:21:23.445Z,1761366083.445 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T04:21:23.445Z,1761366083.445 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-10-25T04:21:23.445Z,1761366083.445 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-10-25T04:21:23.446Z,1761366083.446 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-10-25T04:21:23.446Z,1761366083.446 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-10-25T04:21:23.446Z,1761366083.446 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-10-25T04:21:23.446Z,1761366083.446 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T04:21:23.478Z,1761366083.478 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:23.729Z,1761366083.729 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:23.851Z,1761366083.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082054,0.992158,-0.094281],[-0.996562,-0.082771,-0.003718],[-0.011493,0.093651,0.995539]]
2025-10-25T04:21:23.912Z,1761366083.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:23.918Z,1761366083.918 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-10-25T04:21:23.918Z,1761366083.918 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-10-25T04:21:23.918Z,1761366083.918 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-10-25T04:21:23.918Z,1761366083.918 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-10-25T04:21:23.919Z,1761366083.919 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-10-25T04:21:23.919Z,1761366083.919 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-10-25T04:21:23.919Z,1761366083.919 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-10-25T04:21:23.919Z,1761366083.919 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-10-25T04:21:23.981Z,1761366083.981 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:24.226Z,1761366084.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.081873,0.992181,-0.094203],[-0.996578,-0.082577,-0.003587],[-0.011338,0.093587,0.995547]]
2025-10-25T04:21:24.233Z,1761366084.233 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:24.485Z,1761366084.485 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:24.631Z,1761366084.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083212,0.991728,-0.097727],[-0.996470,-0.083898,-0.002926],[-0.011101,0.097138,0.995209]]
2025-10-25T04:21:24.738Z,1761366084.738 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:24.989Z,1761366084.989 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:25.035Z,1761366085.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084342,0.990617,-0.107540],[-0.996385,-0.084942,-0.000998],[-0.010123,0.107067,0.994200]]
2025-10-25T04:21:25.242Z,1761366085.242 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:25.437Z,1761366085.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084501,0.989232,-0.119500],[-0.996381,-0.084998,0.000942],[-0.009225,0.119147,0.992834]]
2025-10-25T04:21:25.493Z,1761366085.493 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:25.745Z,1761366085.745 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:25.877Z,1761366085.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082735,0.987970,-0.130651],[-0.996535,-0.083139,0.002370],[-0.008521,0.130395,0.991426]]
2025-10-25T04:21:25.933Z,1761366085.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:25.997Z,1761366085.997 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:26.246Z,1761366086.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080468,0.987050,-0.138773],[-0.996726,-0.080789,0.003328],[-0.007926,0.138586,0.990319]]
2025-10-25T04:21:26.249Z,1761366086.249 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:26.501Z,1761366086.501 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:26.653Z,1761366086.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077572,0.986212,-0.146181],[-0.996961,-0.077792,0.004226],[-0.007204,0.146064,0.989249]]
2025-10-25T04:21:26.754Z,1761366086.754 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:27.006Z,1761366087.006 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:27.054Z,1761366087.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074134,0.985598,-0.151988],[-0.997226,-0.074279,0.004730],[-0.006627,0.151917,0.988371]]
2025-10-25T04:21:27.257Z,1761366087.257 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:27.457Z,1761366087.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070716,0.984946,-0.157735],[-0.997480,-0.070733,0.005516],[-0.005724,0.157728,0.987466]]
2025-10-25T04:21:27.498Z,1761366087.498 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-10-25T04:21:27.498Z,1761366087.498 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-10-25T04:21:27.498Z,1761366087.498 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T04:21:27.498Z,1761366087.498 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-10-25T04:21:27.509Z,1761366087.509 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:27.761Z,1761366087.761 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:27.902Z,1761366087.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066807,0.984417,-0.162663],[-0.997754,-0.066701,0.006120],[-0.004825,0.162706,0.986663]]
2025-10-25T04:21:27.951Z,1761366087.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:27.953Z,1761366087.953 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode -1.000000 count 
2025-10-25T04:21:27.953Z,1761366087.953 [lineCaptureHoming:LineCapture:M] Stopped
2025-10-25T04:21:27.956Z,1761366087.956 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-10-25T04:21:27.956Z,1761366087.956 [lineCaptureHoming:LineCapture] Stopped
2025-10-25T04:21:27.977Z,1761366087.977 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-10-25T04:21:27.977Z,1761366087.977 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-10-25T04:21:27.977Z,1761366087.977 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-10-25T04:21:27.977Z,1761366087.977 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-25T04:21:27.977Z,1761366087.977 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:G] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:H] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-10-25T04:21:27.978Z,1761366087.978 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-10-25T04:21:27.979Z,1761366087.979 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-10-25T04:21:28.013Z,1761366088.013 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:28.266Z,1761366088.266 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:28.305Z,1761366088.305 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-10-25T04:21:28.305Z,1761366088.305 [lineCaptureHoming:Lap:B] Stopped
2025-10-25T04:21:28.305Z,1761366088.305 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-10-25T04:21:28.305Z,1761366088.305 [lineCaptureHoming:Lap:C] Running Loop=1
2025-10-25T04:21:28.517Z,1761366088.517 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:28.677Z,1761366088.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058300,0.983686,-0.170184],[-0.998293,-0.058047,0.006468],[-0.003516,0.170271,0.985391]]
2025-10-25T04:21:28.711Z,1761366088.711 [lineCaptureHoming:Lap:C] Stopped
2025-10-25T04:21:28.711Z,1761366088.711 [lineCaptureHoming:Lap:D] Running Loop=1
2025-10-25T04:21:28.769Z,1761366088.769 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:29.022Z,1761366089.022 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:29.075Z,1761366089.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054079,0.983585,-0.172148],[-0.998533,-0.053747,0.006592],[-0.002769,0.172252,0.985049]]
2025-10-25T04:21:29.135Z,1761366089.135 [lineCaptureHoming:Lap:D](INFO): Mode -1.000000 count 
2025-10-25T04:21:29.136Z,1761366089.136 [lineCaptureHoming:Lap:D] Stopped
2025-10-25T04:21:29.136Z,1761366089.136 [lineCaptureHoming:Lap:E] Running Loop=1
2025-10-25T04:21:29.136Z,1761366089.136 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-10-25T04:21:29.274Z,1761366089.274 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:29.478Z,1761366089.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049943,0.983529,-0.173714],[-0.998751,-0.049490,0.006941],[-0.001770,0.173843,0.984772]]
2025-10-25T04:21:29.496Z,1761366089.496 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-10-25T04:21:29.496Z,1761366089.496 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-10-25T04:21:29.497Z,1761366089.497 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-10-25T04:21:29.497Z,1761366089.497 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-10-25T04:21:29.497Z,1761366089.497 [lineCaptureHoming:restartDHCP:A] Stopped
2025-10-25T04:21:29.497Z,1761366089.497 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-10-25T04:21:29.539Z,1761366089.539 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:29.790Z,1761366089.790 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:29.919Z,1761366089.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045282,0.983676,-0.174158],[-0.998974,-0.044794,0.006731],[-0.001181,0.174284,0.984695]]
2025-10-25T04:21:29.979Z,1761366089.979 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-25T04:21:29.979Z,1761366089.979 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-10-25T04:21:29.979Z,1761366089.979 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-10-25T04:21:29.979Z,1761366089.979 [lineCaptureHoming:restartDHCP] Stopped
2025-10-25T04:21:29.979Z,1761366089.979 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-10-25T04:21:29.980Z,1761366089.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-10-25T04:21:30.041Z,1761366090.041 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:30.059Z,1761366090.059 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-10-25T04:21:30.294Z,1761366090.294 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:30.296Z,1761366090.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041410,0.983688,-0.175052],[-0.999142,-0.040776,0.007218],[-0.000037,0.175201,0.984533]]
2025-10-25T04:21:30.351Z,1761366090.351 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-10-25T04:21:30.351Z,1761366090.351 [lineCaptureHoming:Lap:E] Stopped
2025-10-25T04:21:30.351Z,1761366090.351 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-10-25T04:21:30.351Z,1761366090.351 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-10-25T04:21:30.352Z,1761366090.352 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-10-25T04:21:30.352Z,1761366090.352 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-10-25T04:21:30.545Z,1761366090.545 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:30.597Z,1761366090.597 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-25UTC042130_sh
  
2025-10-25T04:21:30.691Z,1761366090.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036834,0.983734,-0.175817],[-0.999321,-0.036170,0.006980],[0.000507,0.175955,0.984398]]
2025-10-25T04:21:30.734Z,1761366090.734 [lineCaptureHoming:Lap:Docked] Stopped
2025-10-25T04:21:30.734Z,1761366090.734 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-10-25T04:21:30.734Z,1761366090.734 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-10-25T04:21:30.735Z,1761366090.735 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-10-25T04:21:30.735Z,1761366090.735 [lineCaptureHoming:Lap] Stopped
2025-10-25T04:21:30.735Z,1761366090.735 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-10-25T04:21:30.781Z,1761366090.781 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-10-25T04:21:30.781Z,1761366090.782 [MissionManager](INFO): lineCaptureHoming is completed.
2025-10-25T04:21:30.782Z,1761366090.782 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming] Stopped
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science] Stopped
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science:B] Stopped
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science:C] Stopped
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science:E] Stopped
2025-10-25T04:21:30.782Z,1761366090.782 [lineCaptureHoming:Science:F] Stopped
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-10-25T04:21:30.783Z,1761366090.783 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-10-25T04:21:30.784Z,1761366090.784 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-10-25T04:21:30.784Z,1761366090.784 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-10-25T04:21:30.784Z,1761366090.784 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-10-25T04:21:30.784Z,1761366090.784 [lineCaptureHoming:TrackAC.] Stopped
2025-10-25T04:21:30.785Z,1761366090.785 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-10-25T04:21:30.798Z,1761366090.798 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:30.872Z,1761366090.872 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-10-25T04:21:30.977Z,1761366090.977 [WetLabsUBAT](INFO): Powering down
2025-10-25T04:21:30.997Z,1761366090.997 [WetLabsBB2FL](INFO): Powering down
2025-10-25T04:21:31.049Z,1761366091.049 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:31.278Z,1761366091.278 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-10-25T04:21:31.279Z,1761366091.279 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-10-25T04:21:31.301Z,1761366091.301 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:31.304Z,1761366091.304 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-10-25T04:21:31.412Z,1761366091.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028940,0.983663,-0.177677],[-0.999579,-0.028118,0.007143],[0.002030,0.177809,0.984063]]
2025-10-25T04:21:31.553Z,1761366091.553 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:31.803Z,1761366091.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027199,0.983566,-0.178490],[-0.999626,-0.026253,0.007661],[0.002849,0.178632,0.983912]]
2025-10-25T04:21:31.805Z,1761366091.805 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:32.057Z,1761366092.057 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:32.209Z,1761366092.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025946,0.983457,-0.179275],[-0.999658,-0.024916,0.007992],[0.003393,0.179421,0.983766]]
2025-10-25T04:21:32.309Z,1761366092.309 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:32.562Z,1761366092.562 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:32.612Z,1761366092.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025018,0.983312,-0.180197],[-0.999679,-0.023892,0.008421],[0.003975,0.180350,0.983594]]
2025-10-25T04:21:32.813Z,1761366092.813 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:33.016Z,1761366093.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025649,0.983054,-0.181511],[-0.999661,-0.024400,0.009114],[0.004530,0.181684,0.983347]]
2025-10-25T04:21:33.065Z,1761366093.065 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:33.317Z,1761366093.317 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:33.419Z,1761366093.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025403,0.982947,-0.182124],[-0.999665,-0.024074,0.009505],[0.004958,0.182304,0.983230]]
2025-10-25T04:21:33.569Z,1761366093.569 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:33.821Z,1761366093.821 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:33.825Z,1761366093.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027855,0.982890,-0.182077],[-0.999597,-0.026389,0.010466],[0.005482,0.182296,0.983229]]
2025-10-25T04:21:34.073Z,1761366094.073 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:34.230Z,1761366094.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029802,0.982551,-0.183590],[-0.999539,-0.028230,0.011168],[0.005790,0.183838,0.982939]]
2025-10-25T04:21:34.326Z,1761366094.326 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:34.577Z,1761366094.577 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:34.631Z,1761366094.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033065,0.982202,-0.184897],[-0.999434,-0.031349,0.012196],[0.006182,0.185195,0.982682]]
2025-10-25T04:21:34.830Z,1761366094.830 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:35.040Z,1761366095.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037785,0.982070,-0.184690],[-0.999264,-0.035918,0.013447],[0.006572,0.185062,0.982705]]
2025-10-25T04:21:35.081Z,1761366095.081 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:35.334Z,1761366095.334 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:35.440Z,1761366095.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041595,0.981853,-0.185027],[-0.999110,-0.039580,0.014574],[0.006986,0.185469,0.982625]]
2025-10-25T04:21:35.585Z,1761366095.585 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:35.837Z,1761366095.837 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:35.848Z,1761366095.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048042,0.981460,-0.185550],[-0.998817,-0.045796,0.016377],[0.007576,0.186117,0.982498]]
2025-10-25T04:21:36.089Z,1761366096.089 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:36.127Z,1761366096.127 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-10-25T04:21:36.134Z,1761366096.134 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-10-25T04:21:36.136Z,1761366096.136 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-10-25T04:21:36.139Z,1761366096.139 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-10-25T04:21:36.142Z,1761366096.142 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-10-25T04:21:36.144Z,1761366096.144 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-10-25T04:21:36.147Z,1761366096.147 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-10-25T04:21:36.193Z,1761366096.193 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 290.000000 m
2025-10-25T04:21:36.195Z,1761366096.195 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-10-25T04:21:36.197Z,1761366096.197 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-10-25T04:21:36.199Z,1761366096.199 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-10-25T04:21:36.201Z,1761366096.201 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-10-25T04:21:36.203Z,1761366096.203 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-10-25T04:21:36.221Z,1761366096.221 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-10-25T04:21:36.222Z,1761366096.222 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-10-25T04:21:36.222Z,1761366096.222 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-10-25T04:21:36.223Z,1761366096.223 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-10-25T04:21:36.247Z,1761366096.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053834,0.981122,-0.185745],[-0.998517,-0.051381,0.017998],[0.008115,0.186438,0.982433]]
2025-10-25T04:21:36.341Z,1761366096.341 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:36.428Z,1761366096.428 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-10-25T04:21:36.432Z,1761366096.432 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-10-25T04:21:36.434Z,1761366096.434 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-10-25T04:21:36.437Z,1761366096.437 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-10-25T04:21:36.439Z,1761366096.439 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-10-25T04:21:36.440Z,1761366096.440 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-10-25T04:21:36.446Z,1761366096.446 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-10-25T04:21:36.452Z,1761366096.452 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-10-25T04:21:36.462Z,1761366096.462 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-10-25T04:21:36.462Z,1761366096.462 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-10-25T04:21:36.464Z,1761366096.464 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-10-25T04:21:36.510Z,1761366096.510 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-10-25T04:21:36.516Z,1761366096.516 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-10-25T04:21:36.529Z,1761366096.529 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-10-25T04:21:36.532Z,1761366096.532 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-10-25T04:21:36.532Z,1761366096.532 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-10-25T04:21:36.533Z,1761366096.533 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-10-25T04:21:36.593Z,1761366096.593 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:36.651Z,1761366096.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056772,0.980977,-0.185637],[-0.998349,-0.054155,0.019140],[0.008723,0.186417,0.982432]]
2025-10-25T04:21:36.768Z,1761366096.768 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-10-25T04:21:36.771Z,1761366096.771 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-10-25T04:21:36.773Z,1761366096.773 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-10-25T04:21:36.775Z,1761366096.775 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-10-25T04:21:36.777Z,1761366096.777 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-10-25T04:21:36.780Z,1761366096.780 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-10-25T04:21:36.786Z,1761366096.786 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-10-25T04:21:36.823Z,1761366096.823 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-10-25T04:21:36.826Z,1761366096.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-10-25T04:21:36.826Z,1761366096.826 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-10-25T04:21:36.831Z,1761366096.831 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-10-25T04:21:36.846Z,1761366096.846 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:37.067Z,1761366097.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057986,0.980910,-0.185618],[-0.998273,-0.055226,0.020008],[0.009375,0.186458,0.982418]]
2025-10-25T04:21:37.097Z,1761366097.097 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:37.349Z,1761366097.349 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:37.459Z,1761366097.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057622,0.980896,-0.185801],[-0.998289,-0.054758,0.020514],[0.009948,0.186666,0.982373]]
2025-10-25T04:21:37.603Z,1761366097.603 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:37.853Z,1761366097.853 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:37.865Z,1761366097.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056251,0.980875,-0.186333],[-0.998361,-0.053284,0.020898],[0.010570,0.187203,0.982264]]
2025-10-25T04:21:38.105Z,1761366098.105 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:38.267Z,1761366098.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054154,0.980839,-0.187140],[-0.998470,-0.051094,0.021139],[0.011172,0.187999,0.982106]]
2025-10-25T04:21:38.357Z,1761366098.357 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:38.609Z,1761366098.609 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:38.673Z,1761366098.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051564,0.980932,-0.187388],[-0.998600,-0.048421,0.021318],[0.011838,0.188225,0.982055]]
2025-10-25T04:21:38.861Z,1761366098.861 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:39.099Z,1761366099.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.048431,0.981083,-0.187434],[-0.998747,-0.045202,0.021465],[0.012587,0.188238,0.982043]]
2025-10-25T04:21:39.113Z,1761366099.113 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:39.365Z,1761366099.365 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:39.480Z,1761366099.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.044912,0.981204,-0.187675],[-0.998902,-0.041601,0.021546],[0.013334,0.188437,0.981995]]
2025-10-25T04:21:39.617Z,1761366099.617 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:39.869Z,1761366099.869 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:39.884Z,1761366099.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041515,0.981256,-0.188184],[-0.999037,-0.038093,0.021770],[0.014193,0.188907,0.981892]]
2025-10-25T04:21:40.121Z,1761366100.121 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:40.289Z,1761366100.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037790,0.981304,-0.188717],[-0.999172,-0.034255,0.021957],[0.015082,0.189391,0.981786]]
2025-10-25T04:21:40.373Z,1761366100.373 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:40.625Z,1761366100.625 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:40.691Z,1761366100.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034238,0.981342,-0.189195],[-0.999283,-0.030556,0.022345],[0.016147,0.189824,0.981685]]
2025-10-25T04:21:40.877Z,1761366100.877 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:41.121Z,1761366101.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.030921,0.981406,-0.189435],[-0.999372,-0.027076,0.022853],[0.017299,0.190023,0.981627]]
2025-10-25T04:21:41.129Z,1761366101.129 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:41.158Z,1761366101.158 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlAvgProfiles">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepthAvgProfiles">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-10-25T04:21:41.248Z,1761366101.248 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-10-25T04:21:41.254Z,1761366101.254 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool
2025-10-25T04:21:41.268Z,1761366101.268 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-10-25T04:21:41.279Z,1761366101.279 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-10-25T04:21:41.285Z,1761366101.285 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-10-25T04:21:41.287Z,1761366101.287 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-10-25T04:21:41.293Z,1761366101.293 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-10-25T04:21:41.295Z,1761366101.295 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-10-25T04:21:41.300Z,1761366101.300 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-10-25T04:21:41.318Z,1761366101.318 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-10-25T04:21:41.320Z,1761366101.320 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-10-25T04:21:41.326Z,1761366101.326 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-10-25T04:21:41.337Z,1761366101.337 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-10-25T04:21:41.339Z,1761366101.339 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-10-25T04:21:41.345Z,1761366101.345 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-10-25T04:21:41.347Z,1761366101.347 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-25T04:21:41.352Z,1761366101.352 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-10-25T04:21:41.366Z,1761366101.366 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-25T04:21:41.368Z,1761366101.368 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-10-25T04:21:41.381Z,1761366101.381 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:41.385Z,1761366101.385 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-10-25T04:21:41.387Z,1761366101.387 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-10-25T04:21:41.390Z,1761366101.390 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-25T04:21:41.391Z,1761366101.391 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-10-25T04:21:41.413Z,1761366101.413 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-10-25T04:21:41.415Z,1761366101.415 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-10-25T04:21:41.420Z,1761366101.420 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-10-25T04:21:41.431Z,1761366101.431 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-10-25T04:21:41.437Z,1761366101.437 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-10-25T04:21:41.440Z,1761366101.440 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-10-25T04:21:41.443Z,1761366101.443 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-10-25T04:21:41.457Z,1761366101.457 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-10-25T04:21:41.459Z,1761366101.459 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-10-25T04:21:41.466Z,1761366101.466 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-10-25T04:21:41.473Z,1761366101.473 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-10-25T04:21:41.478Z,1761366101.478 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-10-25T04:21:41.499Z,1761366101.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.027758,0.981461,-0.189641],[-0.999445,-0.023749,0.023379],[0.018442,0.190185,0.981575]]
2025-10-25T04:21:41.517Z,1761366101.517 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-10-25T04:21:41.519Z,1761366101.519 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-10-25T04:21:41.529Z,1761366101.529 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-10-25T04:21:41.531Z,1761366101.531 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-10-25T04:21:41.538Z,1761366101.538 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-10-25T04:21:41.540Z,1761366101.540 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-10-25T04:21:41.554Z,1761366101.554 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-10-25T04:21:41.565Z,1761366101.565 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-10-25T04:21:41.567Z,1761366101.567 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-10-25T04:21:41.574Z,1761366101.574 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-10-25T04:21:41.576Z,1761366101.576 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-10-25T04:21:41.583Z,1761366101.583 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-10-25T04:21:41.587Z,1761366101.587 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-10-25T04:21:41.609Z,1761366101.609 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-10-25T04:21:41.611Z,1761366101.611 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-10-25T04:21:41.614Z,1761366101.614 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-10-25T04:21:41.629Z,1761366101.629 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-10-25T04:21:41.631Z,1761366101.631 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-10-25T04:21:41.634Z,1761366101.634 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:41.641Z,1761366101.641 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-10-25T04:21:41.644Z,1761366101.644 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l
2025-10-25T04:21:41.650Z,1761366101.650 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m
2025-10-25T04:21:41.657Z,1761366101.657 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-10-25T04:21:41.660Z,1761366101.660 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-10-25T04:21:41.666Z,1761366101.666 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-10-25T04:21:41.673Z,1761366101.673 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-10-25T04:21:41.675Z,1761366101.675 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-10-25T04:21:41.684Z,1761366101.684 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-10-25T04:21:41.696Z,1761366101.696 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-10-25T04:21:41.703Z,1761366101.703 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-10-25T04:21:41.709Z,1761366101.709 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-10-25T04:21:41.712Z,1761366101.712 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-10-25T04:21:41.718Z,1761366101.718 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-10-25T04:21:41.729Z,1761366101.729 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-10-25T04:21:41.731Z,1761366101.731 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-10-25T04:21:41.734Z,1761366101.734 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-10-25T04:21:41.736Z,1761366101.736 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-10-25T04:21:41.751Z,1761366101.751 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-10-25T04:21:41.757Z,1761366101.757 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-10-25T04:21:41.759Z,1761366101.759 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-10-25T04:21:41.770Z,1761366101.770 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-10-25T04:21:41.772Z,1761366101.772 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-10-25T04:21:41.779Z,1761366101.779 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-10-25T04:21:41.785Z,1761366101.785 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-10-25T04:21:41.788Z,1761366101.788 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-10-25T04:21:41.794Z,1761366101.794 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-10-25T04:21:41.801Z,1761366101.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-10-25T04:21:41.803Z,1761366101.803 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-10-25T04:21:41.811Z,1761366101.811 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-10-25T04:21:41.830Z,1761366101.830 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-10-25T04:21:41.832Z,1761366101.832 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-10-25T04:21:41.839Z,1761366101.839 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-10-25T04:21:41.854Z,1761366101.854 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-10-25T04:21:41.861Z,1761366101.861 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-10-25T04:21:41.863Z,1761366101.863 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-10-25T04:21:41.870Z,1761366101.870 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-10-25T04:21:41.872Z,1761366101.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-10-25T04:21:41.883Z,1761366101.883 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-10-25T04:21:41.885Z,1761366101.885 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:41.903Z,1761366101.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.024671,0.981463,-0.190059],[-0.999501,-0.020468,0.024044],[0.019708,0.190557,0.981478]]
2025-10-25T04:21:41.921Z,1761366101.921 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-10-25T04:21:41.924Z,1761366101.924 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-10-25T04:21:41.939Z,1761366101.939 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-10-25T04:21:41.955Z,1761366101.955 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-10-25T04:21:41.961Z,1761366101.961 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-10-25T04:21:41.964Z,1761366101.964 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-10-25T04:21:41.971Z,1761366101.971 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-10-25T04:21:41.980Z,1761366101.980 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-10-25T04:21:42.003Z,1761366102.003 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-10-25T04:21:42.008Z,1761366102.008 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-10-25T04:21:42.023Z,1761366102.023 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-10-25T04:21:42.031Z,1761366102.031 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-10-25T04:21:42.042Z,1761366102.042 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-10-25T04:21:42.054Z,1761366102.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-10-25T04:21:42.072Z,1761366102.072 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-10-25T04:21:42.109Z,1761366102.109 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-10-25T04:21:42.116Z,1761366102.116 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-10-25T04:21:42.122Z,1761366102.122 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-10-25T04:21:42.129Z,1761366102.129 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-10-25T04:21:42.131Z,1761366102.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-10-25T04:21:42.137Z,1761366102.137 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:42.142Z,1761366102.142 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-25T04:21:42.144Z,1761366102.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-25T04:21:42.151Z,1761366102.151 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-10-25T04:21:42.161Z,1761366102.161 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-10-25T04:21:42.163Z,1761366102.163 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-10-25T04:21:42.170Z,1761366102.170 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-10-25T04:21:42.172Z,1761366102.172 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-10-25T04:21:42.183Z,1761366102.183 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-10-25T04:21:42.202Z,1761366102.202 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-10-25T04:21:42.204Z,1761366102.204 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-10-25T04:21:42.222Z,1761366102.222 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-10-25T04:21:42.224Z,1761366102.224 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-10-25T04:21:42.234Z,1761366102.234 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-10-25T04:21:42.237Z,1761366102.237 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-10-25T04:21:42.239Z,1761366102.239 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-10-25T04:21:42.261Z,1761366102.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-10-25T04:21:42.264Z,1761366102.264 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-10-25T04:21:42.266Z,1761366102.266 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-10-25T04:21:42.268Z,1761366102.268 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-10-25T04:21:42.283Z,1761366102.283 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-10-25T04:21:42.285Z,1761366102.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-10-25T04:21:42.287Z,1761366102.287 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-10-25T04:21:42.308Z,1761366102.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.021961,0.981429,-0.190567],[-0.999533,-0.017505,0.025035],[0.021234,0.191028,0.981355]]
2025-10-25T04:21:42.321Z,1761366102.321 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-10-25T04:21:42.323Z,1761366102.323 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-10-25T04:21:42.389Z,1761366102.389 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:42.391Z,1761366102.391 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.447Z,1761366102.447 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T04:21:42.523Z,1761366102.523 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T04:21:42.560Z,1761366102.560 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T04:21:42.590Z,1761366102.590 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.620Z,1761366102.620 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.639Z,1761366102.639 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T04:21:42.641Z,1761366102.641 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:42.673Z,1761366102.673 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.712Z,1761366102.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019282,0.981368,-0.191168],[-0.999557,-0.014582,0.025964],[0.022693,0.191584,0.981214]]
2025-10-25T04:21:42.734Z,1761366102.734 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.801Z,1761366102.801 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-10-25T04:21:42.825Z,1761366102.825 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.843Z,1761366102.843 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T04:21:42.888Z,1761366102.888 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.894Z,1761366102.894 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:42.918Z,1761366102.918 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T04:21:42.959Z,1761366102.959 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:42.982Z,1761366102.982 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T04:21:43.003Z,1761366103.003 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-10-25T04:21:43.020Z,1761366103.020 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-10-25T04:21:43.040Z,1761366103.040 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-10-25T04:21:43.068Z,1761366103.068 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-10-25T04:21:43.071Z,1761366103.071 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-10-25T04:21:43.072Z,1761366103.072 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-10-25T04:21:43.074Z,1761366103.074 [OnDock:N.Docked](DEBUG): Construct.
2025-10-25T04:21:43.074Z,1761366103.074 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-10-25T04:21:43.146Z,1761366103.146 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:43.194Z,1761366103.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014991,0.980979,-0.193534],[-0.999549,-0.009666,0.028428],[0.026016,0.193873,0.980682]]
2025-10-25T04:21:43.205Z,1761366103.205 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-10-25T04:21:43.206Z,1761366103.206 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-10-25T04:21:43.325Z,1761366103.325 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-10-25T04:21:43.326Z,1761366103.326 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-10-25T04:21:43.397Z,1761366103.397 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:43.526Z,1761366103.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013419,0.980786,-0.194625],[-0.999520,-0.007723,0.029995],[0.027916,0.194934,0.980419]]
2025-10-25T04:21:43.553Z,1761366103.553 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-10-25T04:21:43.553Z,1761366103.553 [DefaultWithUndock] Running Loop=1
2025-10-25T04:21:43.553Z,1761366103.553 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-10-25T04:21:43.553Z,1761366103.553 [DefaultWithUndock:A.Wait] Running Loop=1
2025-10-25T04:21:43.553Z,1761366103.553 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-10-25T04:21:43.649Z,1761366103.649 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:43.901Z,1761366103.901 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:43.928Z,1761366103.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012004,0.980600,-0.195654],[-0.999481,-0.005918,0.031664],[0.029892,0.195933,0.980162]]
2025-10-25T04:21:44.153Z,1761366104.153 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:44.327Z,1761366104.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010835,0.980544,-0.196000],[-0.999432,-0.004362,0.033425],[0.031920,0.196251,0.980034]]
2025-10-25T04:21:44.405Z,1761366104.405 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:44.657Z,1761366104.657 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:44.731Z,1761366104.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009382,0.980613,-0.195727],[-0.999383,-0.002568,0.035040],[0.033858,0.195935,0.980032]]
2025-10-25T04:21:44.909Z,1761366104.909 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:45.163Z,1761366105.163 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:45.186Z,1761366105.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008402,0.980684,-0.195418],[-0.999319,-0.001213,0.036875],[0.035925,0.195595,0.980026]]
2025-10-25T04:21:45.413Z,1761366105.413 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:45.539Z,1761366105.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007504,0.980735,-0.195201],[-0.999250,0.000061,0.038719],[0.037985,0.195345,0.979999]]
2025-10-25T04:21:45.665Z,1761366105.665 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:45.917Z,1761366105.917 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:45.943Z,1761366105.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006626,0.980766,-0.195076],[-0.999174,0.001328,0.040613],[0.040091,0.195184,0.979947]]
2025-10-25T04:21:46.173Z,1761366106.173 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:46.313Z,1761366106.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-10-25T04:21:46.348Z,1761366106.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005369,0.980711,-0.195387],[-0.999102,0.002953,0.042277],[0.042039,0.195439,0.979815]]
2025-10-25T04:21:46.423Z,1761366106.423 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:46.673Z,1761366106.673 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:46.753Z,1761366106.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004026,0.980601,-0.195973],[-0.999026,0.004669,0.043886],[0.043950,0.195959,0.979627]]
2025-10-25T04:21:46.879Z,1761366106.879 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour
2025-10-25T04:21:46.879Z,1761366106.879 [CommandExec](IMPORTANT): got command run
2025-10-25T04:21:46.882Z,1761366106.882 [CommandExec](IMPORTANT): Running 
2025-10-25T04:21:46.925Z,1761366106.925 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:47.179Z,1761366107.179 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:47.206Z,1761366107.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002222,0.980593,-0.196041],[-0.998948,0.006805,0.045360],[0.045813,0.195936,0.979546]]
2025-10-25T04:21:47.246Z,1761366107.246 [DefaultWithUndock] Stopped
2025-10-25T04:21:47.246Z,1761366107.246 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-10-25T04:21:47.246Z,1761366107.246 [DefaultWithUndock:A.Wait] Stopped
2025-10-25T04:21:47.246Z,1761366107.246 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-10-25T04:21:47.246Z,1761366107.246 [MissionManager](IMPORTANT): Started mission OnDock
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock] Running Loop=1
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-25T04:21:47.247Z,1761366107.247 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:BackseatDriver] Running Loop=1
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:PowerOnly] Running Loop=1
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:PowerOnly:A] Running Loop=1
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:PowerOnly:B] Running Loop=1
2025-10-25T04:21:47.248Z,1761366107.248 [OnDock:PowerOnly:C] Running Loop=1
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:PowerOnly:D] Running Loop=1
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:dataRead] Running Loop=1
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:dataRead:A] Running Loop=1
2025-10-25T04:21:47.249Z,1761366107.249 [OnDock:science] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:A] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:B] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:C] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:D] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:E] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:F] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-10-25T04:21:47.250Z,1761366107.250 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T04:21:47.251Z,1761366107.251 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-10-25T04:21:47.252Z,1761366107.252 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T04:21:47.253Z,1761366107.253 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-10-25T04:21:47.254Z,1761366107.254 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-10-25T04:21:47.255Z,1761366107.255 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-10-25T04:21:47.256Z,1761366107.256 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-25T04:21:47.257Z,1761366107.257 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-10-25T04:21:47.258Z,1761366107.258 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:J.] Running Loop=1
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:PeriodicCheck] Running Loop=1
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-10-25T04:21:47.259Z,1761366107.259 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-10-25T04:21:47.260Z,1761366107.260 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-10-25T04:21:47.260Z,1761366107.260 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-10-25T04:21:47.260Z,1761366107.260 [OnDock:B] Running Loop=1
2025-10-25T04:21:47.284Z,1761366107.284 [OnDock:PeriodicCheck] Running Loop=1
2025-10-25T04:21:47.285Z,1761366107.285 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-10-25T04:21:47.285Z,1761366107.285 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-10-25T04:21:47.285Z,1761366107.285 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-10-25T04:21:47.285Z,1761366107.285 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-10-25T04:21:47.285Z,1761366107.285 [OnDock:J.] Running Loop=1
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science] Stopped
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science:Science] Stopped
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science:Science:A] Stopped
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science:Science:B] Stopped
2025-10-25T04:21:47.293Z,1761366107.293 [OnDock:science:Science:C] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:D] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:E] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:F] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:Read_Oil] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:OceanCurrent] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:PeakDetectChl] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-10-25T04:21:47.294Z,1761366107.294 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectOil] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-10-25T04:21:47.295Z,1761366107.295 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-10-25T04:21:47.296Z,1761366107.296 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-10-25T04:21:47.298Z,1761366107.298 [CommandExec](IMPORTANT): got command ! ifconfig
2025-10-25T04:21:47.329Z,1761366107.329 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-10-25T04:21:47.330Z,1761366107.330 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-10-25T04:21:47.330Z,1761366107.330 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-10-25T04:21:47.330Z,1761366107.330 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-10-25T04:21:47.331Z,1761366107.331 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-10-25T04:21:47.331Z,1761366107.331 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-10-25T04:21:47.331Z,1761366107.331 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-10-25T04:21:47.331Z,1761366107.331 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-10-25T04:21:47.331Z,1761366107.331 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-10-25T04:21:47.332Z,1761366107.332 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-10-25T04:21:47.332Z,1761366107.332 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-10-25T04:21:47.332Z,1761366107.332 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-10-25T04:21:47.332Z,1761366107.332 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-10-25T04:21:47.333Z,1761366107.333 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-10-25T04:21:47.333Z,1761366107.333 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-10-25T04:21:47.334Z,1761366107.334 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-10-25T04:21:47.335Z,1761366107.335 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-10-25T04:21:47.336Z,1761366107.336 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-10-25T04:21:47.336Z,1761366107.336 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-10-25T04:21:47.341Z,1761366107.341 [OnDock:dataRead] Running Loop=1
2025-10-25T04:21:47.341Z,1761366107.341 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:PowerOnly] Running Loop=1
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:PowerOnly:D] Stopped
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:PowerOnly:C] Stopped
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:PowerOnly:B] Stopped
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:PowerOnly:A] Stopped
2025-10-25T04:21:47.342Z,1761366107.342 [OnDock:BackseatDriver] Running Loop=1
2025-10-25T04:21:47.343Z,1761366107.343 [OnDock:B] Stopped
2025-10-25T04:21:47.343Z,1761366107.343 [OnDock:C] Running Loop=1
2025-10-25T04:21:47.343Z,1761366107.343 [OnDock:StandardEnvelopes] Running Loop=1
2025-10-25T04:21:47.343Z,1761366107.343 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-10-25T04:21:47.344Z,1761366107.344 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-10-25T04:21:47.353Z,1761366107.353 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-10-25T04:21:47.430Z,1761366107.430 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:47.501Z,1761366107.501 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:5174 errors:0 dropped:0 overruns:0 frame:0
            TX packets:7774 errors:0 dropped:0 overruns:0 carrier:0
            collisions:66 txqueuelen:1000 
            RX bytes:2362270 (2.2 Mb)  TX bytes:977909 (954.9 Kb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:1069 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1069 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:90946 (88.8 Kb)  TX bytes:90946 (88.8 Kb)
  
  
2025-10-25T04:21:47.682Z,1761366107.682 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:47.914Z,1761366107.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001478,0.980395,-0.197035],[-0.998772,0.011204,0.048255],[0.049516,0.196722,0.979208]]
2025-10-25T04:21:47.933Z,1761366107.933 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:47.950Z,1761366107.950 [OnDock:C] Stopped
2025-10-25T04:21:47.950Z,1761366107.950 [OnDock:D] Running Loop=1
2025-10-25T04:21:48.188Z,1761366108.188 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:48.299Z,1761366108.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003492,0.980218,-0.197892],[-0.998678,0.013568,0.049582],[0.051286,0.197457,0.978969]]
2025-10-25T04:21:48.345Z,1761366108.345 [OnDock:D] Stopped
2025-10-25T04:21:48.345Z,1761366108.345 [OnDock:E] Running Loop=1
2025-10-25T04:21:48.437Z,1761366108.437 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:48.689Z,1761366108.689 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:48.705Z,1761366108.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005751,0.980174,-0.198054],[-0.998581,0.016116,0.050760],[0.052946,0.197481,0.978876]]
2025-10-25T04:21:48.720Z,1761366108.720 [OnDock:E] Stopped
2025-10-25T04:21:48.737Z,1761366108.737 [OnDock:K] Running Loop=1
2025-10-25T04:21:48.941Z,1761366108.941 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:49.107Z,1761366109.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008175,0.980232,-0.197685],[-0.998482,0.018769,0.051777],[0.054463,0.196962,0.978897]]
2025-10-25T04:21:49.122Z,1761366109.122 [OnDock:K](IMPORTANT): Restarting logs
2025-10-25T04:21:49.122Z,1761366109.122 [OnDock:K] Stopped
2025-10-25T04:21:49.122Z,1761366109.122 [OnDock:L.Execute] Running Loop=1
2025-10-25T04:21:49.196Z,1761366109.196 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:49.445Z,1761366109.445 [DAT](DEBUG): Acoustic response timeout
2025-10-25T04:21:49.606Z,1761366109.606 [OnDock:L.Execute](INFO): Executing command restart logs
2025-10-25T04:21:49.606Z,1761366109.606 [OnDock:L.Execute] Stopped
2025-10-25T04:21:49.607Z,1761366109.607 [OnDock:N.Docked] Running Loop=1
2025-10-25T04:21:49.607Z,1761366109.607 [OnDock:N.Docked](DEBUG): Initialize.
2025-10-25T04:21:49.607Z,1761366109.607 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.