2020-11-20T17:47:29.739Z,1605894449.739 [DataOverHttps](IMPORTANT): SBD MTMSN=20201120T174612
2020-11-20T17:47:37.116Z,1605894457.116 [DataOverHttps](INFO): Received command:load Maintenance/line_capture_homing_lab.xml;set lineCaptureHoming.TransponderCode 9 count;set lineCaptureHoming.TrackingUpdatePeriod 5 second;set lineCaptureHoming.NumberOfPings 50 count;run
2020-11-20T17:47:37.159Z,1605894457.159 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-20T17:47:37.159Z,1605894457.159 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-20T17:47:37.413Z,1605894457.413 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2020-11-20T17:47:37.415Z,1605894457.415 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2020-11-20T17:47:37.417Z,1605894457.417 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2020-11-20T17:47:37.419Z,1605894457.419 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2020-11-20T17:47:37.421Z,1605894457.421 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2020-11-20T17:47:37.423Z,1605894457.423 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2020-11-20T17:47:37.425Z,1605894457.425 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2020-11-20T17:47:37.427Z,1605894457.427 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2020-11-20T17:47:37.429Z,1605894457.429 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2020-11-20T17:47:37.431Z,1605894457.431 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2020-11-20T17:47:37.433Z,1605894457.433 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2020-11-20T17:47:37.435Z,1605894457.435 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2020-11-20T17:47:37.437Z,1605894457.437 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2020-11-20T17:47:37.439Z,1605894457.439 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2020-11-20T17:47:37.476Z,1605894457.476 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2020-11-20T17:47:37.479Z,1605894457.479 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2020-11-20T17:47:37.493Z,1605894457.493 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2020-11-20T17:47:37.498Z,1605894457.498 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2020-11-20T17:47:37.500Z,1605894457.500 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2020-11-20T17:47:37.509Z,1605894457.509 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2020-11-20T17:47:37.511Z,1605894457.511 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2020-11-20T17:47:37.513Z,1605894457.513 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2020-11-20T17:47:37.515Z,1605894457.515 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2020-11-20T17:47:37.517Z,1605894457.517 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2020-11-20T17:47:37.519Z,1605894457.519 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2020-11-20T17:47:37.545Z,1605894457.545 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2020-11-20T17:47:37.547Z,1605894457.547 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2020-11-20T17:47:37.550Z,1605894457.550 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2020-11-20T17:47:37.552Z,1605894457.552 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2020-11-20T17:47:37.554Z,1605894457.554 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2020-11-20T17:47:37.556Z,1605894457.556 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2020-11-20T17:47:37.558Z,1605894457.558 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2020-11-20T17:47:37.560Z,1605894457.560 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2020-11-20T17:47:37.562Z,1605894457.562 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2020-11-20T17:47:37.563Z,1605894457.563 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2020-11-20T17:47:37.593Z,1605894457.593 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2020-11-20T17:47:37.595Z,1605894457.595 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2020-11-20T17:47:37.597Z,1605894457.597 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2020-11-20T17:47:37.599Z,1605894457.599 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2020-11-20T17:47:37.602Z,1605894457.602 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2020-11-20T17:47:37.604Z,1605894457.604 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2020-11-20T17:47:37.606Z,1605894457.606 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2020-11-20T17:47:37.608Z,1605894457.608 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2020-11-20T17:47:37.610Z,1605894457.610 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2020-11-20T17:47:37.705Z,1605894457.705 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2020-11-20T17:47:37.717Z,1605894457.717 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2020-11-20T17:47:37.720Z,1605894457.720 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2020-11-20T17:47:37.739Z,1605894457.739 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-11-20T17:47:37.746Z,1605894457.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-11-20T17:47:37.770Z,1605894457.770 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2020-11-20T17:47:37.776Z,1605894457.776 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2020-11-20T17:47:37.806Z,1605894457.806 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2020-11-20T17:47:37.816Z,1605894457.816 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-20T17:47:37.816Z,1605894457.816 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-20T17:47:37.846Z,1605894457.846 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2020-11-20T17:47:37.853Z,1605894457.853 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2020-11-20T17:47:37.862Z,1605894457.862 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2020-11-20T17:47:37.862Z,1605894457.862 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Initializing internal variables to default values.
2020-11-20T17:47:37.886Z,1605894457.886 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2020-11-20T17:47:37.904Z,1605894457.904 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2020-11-20T17:47:37.946Z,1605894457.946 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><False/></DefineArg>

    <DefineArg Name="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="KpHeading"><Description>
        Heading proportional gain to use during Terminal Homing.
    </Description><Units:none/><Value>0.8</Value></DefineArg>

    <DefineArg Name="KiHeading"><Description>
        Heading Integral gain to use during Terminal Homing.
    </Description><Units:reciprocal_second/><Value>0.002</Value></DefineArg>

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></DefineArg>

    <!-- Mission Variables (don't change) -->

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission sets this to true to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></DefineOutput>

    <DefineOutput Name="DiveMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between dive modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change).
        The mission will run in this to mode when running surface comms.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="InitialDive"><Description>
        Mission variable (don't change).
        The mission will run in this mode when surface comms are done to
        dive the vehicle to DVL bottom range.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="MaintainAltitude"><Description>
        Mission variable (don't change).
        The mission will run in this mode to dive the vehicle at a
        commanded altitude.
    </Description><Units:count/><Value>2</Value></DefineOutput>

    <DefineOutput Name="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</Value></DefineOutput>

    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to drift away from the dock after is
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <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>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>


    <!-- Callable aggregates (priority matters, so these are done below important safety directives -->

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates
            between 3 dive modes: 1) descend from the surface to initial
            depth. 2) follow commanded altitude. 3) drift away from dock
            to initial depth.
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

            <Syslog Severity="Important">Terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

            <Assign><Sequence/><Arg Name="Docked"/><True/></Assign>

            <Guidance:LineCapture>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

                <Setting><Guidance:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

                <Break>
                    <Not><Arg Name="Docked"/></Not>
                </Break>

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Dactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="UpdateNav"/></Not>
                    </Break>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="WaitOnDockTimeout"/></Setting>
                </Guidance:Wait>


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                    </Guidance:Undock>

                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

                </Aggregate>

            </Aggregate>

        </Aggregate>


        <!-- Homing sequance complete -->
        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTime* has passed.
            </Description>

            <Sequence/>

            <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Rollout to start WP at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

                <Syslog Severity="Important">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="RolloutTime"/></Setting>
                </Guidance:Wait>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2020-11-20T17:47:37.961Z,1605894457.961 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-20T17:47:43.547Z,1605894463.547 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TransponderCode 9.000000 count
2020-11-20T17:47:43.548Z,1605894463.548 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 5.000000 second
2020-11-20T17:47:43.548Z,1605894463.548 [CommandLine](IMPORTANT): got command set lineCaptureHoming.NumberOfPings 50.000000 count
2020-11-20T17:47:43.549Z,1605894463.549 [CommandLine](IMPORTANT): got command run
2020-11-20T17:47:43.550Z,1605894463.550 [CommandLine](IMPORTANT): Running 
2020-11-20T17:47:43.727Z,1605894463.727 [Default] Stopped
2020-11-20T17:47:43.727Z,1605894463.727 [Default](DEBUG): Aggregate::uninitialize Default
2020-11-20T17:47:43.727Z,1605894463.727 [Default:B.GoToSurface] Stopped
2020-11-20T17:47:43.727Z,1605894463.727 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-20T17:47:43.727Z,1605894463.727 [Default:CheckIn] Stopped
2020-11-20T17:47:43.727Z,1605894463.727 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-11-20T17:47:43.727Z,1605894463.727 [Default:CheckIn:Read_GPS] Stopped
2020-11-20T17:47:43.728Z,1605894463.728 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming] Running Loop=1
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2020-11-20T17:47:43.728Z,1605894463.728 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-20T17:47:43.729Z,1605894463.729 [lineCaptureHoming:B.Mass](DEBUG): Initialize.
2020-11-20T17:47:43.729Z,1605894463.729 [lineCaptureHoming:Lap] Running Loop=1
2020-11-20T17:47:43.729Z,1605894463.729 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2020-11-20T17:47:43.729Z,1605894463.729 [lineCaptureHoming:Lap:A] Running Loop=1
2020-11-20T17:47:43.729Z,1605894463.729 [lineCaptureHoming:Lap:A](IMPORTANT): Initiating homing sequence.
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:Lap:A] Stopped
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:Lap:B] Running Loop=1
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:43.730Z,1605894463.730 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:44.145Z,1605894464.145 [lineCaptureHoming:Lap:B] Stopped
2020-11-20T17:47:44.145Z,1605894464.145 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2020-11-20T17:47:44.146Z,1605894464.146 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-20T17:47:44.146Z,1605894464.146 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2020-11-20T17:47:44.146Z,1605894464.146 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-20T17:47:44.147Z,1605894464.147 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:44.147Z,1605894464.147 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:44.147Z,1605894464.147 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:44.554Z,1605894464.554 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:44.554Z,1605894464.554 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:44.554Z,1605894464.554 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:44.933Z,1605894464.933 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:44.933Z,1605894464.933 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:44.934Z,1605894464.934 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:45.337Z,1605894465.337 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:45.338Z,1605894465.338 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:45.338Z,1605894465.338 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:45.749Z,1605894465.749 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:45.749Z,1605894465.749 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:45.749Z,1605894465.749 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:46.146Z,1605894466.146 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:46.146Z,1605894466.146 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:46.146Z,1605894466.146 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:46.544Z,1605894466.544 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:46.544Z,1605894466.544 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:46.544Z,1605894466.544 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:46.958Z,1605894466.958 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:46.958Z,1605894466.958 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:46.959Z,1605894466.959 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:47.369Z,1605894467.369 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:47.370Z,1605894467.370 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:47.370Z,1605894467.370 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:47.761Z,1605894467.761 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:47.762Z,1605894467.762 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:47.762Z,1605894467.762 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:48.165Z,1605894468.165 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:48.165Z,1605894468.165 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:48.166Z,1605894468.166 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:48.569Z,1605894468.569 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:48.570Z,1605894468.570 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:48.570Z,1605894468.570 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:48.985Z,1605894468.985 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:48.985Z,1605894468.985 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:48.985Z,1605894468.985 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-20T17:47:48.985Z,1605894468.985 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-20T17:47:49.366Z,1605894469.366 [DAT](INFO): ****** received valid address query ******
2020-11-20T17:47:49.366Z,1605894469.366 [DAT](INFO): ****** received valid ping request ******
2020-11-20T17:47:49.367Z,1605894469.367 [DAT](INFO): Querying Benthos address 9 with 50 pings in terminal homing one-way mode.
2020-11-20T17:47:49.369Z,1605894469.369 [DAT](INFO): ****** ping requested ******
2020-11-20T17:47:49.417Z,1605894469.417 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:49.418Z,1605894469.418 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:49.418Z,1605894469.418 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:49.770Z,1605894469.770 [DAT](INFO): DAT read: u

2020-11-20T17:47:49.770Z,1605894469.770 [DAT](INFO): unknown deviceResponse_: u

2020-11-20T17:47:49.771Z,1605894469.771 [DAT](INFO): DAT read: Tx time:17:45:50.7824

2020-11-20T17:47:49.771Z,1605894469.771 [DAT](INFO): Ping request sent.
2020-11-20T17:47:49.771Z,1605894469.771 [DAT](INFO): transmitted an acoustic signal
2020-11-20T17:47:49.772Z,1605894469.772 [DAT](INFO): publishing transmit ping time
2020-11-20T17:47:49.823Z,1605894469.823 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:49.823Z,1605894469.823 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:49.823Z,1605894469.823 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:50.241Z,1605894470.241 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:50.241Z,1605894470.241 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:50.241Z,1605894470.241 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:50.595Z,1605894470.595 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:50.595Z,1605894470.595 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:50.596Z,1605894470.596 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:51.006Z,1605894471.006 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:51.006Z,1605894471.006 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:51.007Z,1605894471.007 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:51.407Z,1605894471.407 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:51.407Z,1605894471.407 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:51.408Z,1605894471.408 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:51.801Z,1605894471.801 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:51.801Z,1605894471.801 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:51.801Z,1605894471.801 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:52.195Z,1605894472.195 [DAT](INFO): DAT read: Rx Time:17:45:52.9119 

2020-11-20T17:47:52.195Z,1605894472.195 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:52.197Z,1605894472.197 [DAT](INFO): DAT read: Bearing 309.5,  21.2 (Local)

2020-11-20T17:47:52.197Z,1605894472.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,  21.2 (Local)

2020-11-20T17:47:52.199Z,1605894472.199 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:52.200Z,1605894472.200 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:47:52.200Z,1605894472.200 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:52.213Z,1605894472.213 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:52.214Z,1605894472.214 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:52.262Z,1605894472.262 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:52.613Z,1605894472.613 [DAT](INFO): DAT read: 17:45:52.9119 LVL= 32752, 32753, 32754, 32755, AGC= 32, IDX= 446, 0.29, 2.285, 2.326, 2.222, 2.273, PHS=-0.004, 0.128,-0.003, RAW= 329.5, -18.1, CAL= 329.7, -20.3, ROT= 165.3,  20.3

2020-11-20T17:47:52.615Z,1605894472.615 [DAT](INFO): got valid direction response:
 17:45:52.9119 LVL= 32752, 32753, 32754, 32755, AGC= 32, IDX= 446, 0.29, 2.285, 2.326, 2.222, 2.273, PHS=-0.004, 0.128,-0.003, RAW= 329.5, -18.1, CAL= 329.7, -20.3, ROT= 165.3,  20.3

2020-11-20T17:47:52.616Z,1605894472.616 [DAT](INFO): DAT read: Rx Time:17:45:53.4119 

2020-11-20T17:47:52.616Z,1605894472.616 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:52.617Z,1605894472.617 [DAT](INFO): DAT read: Bearing 325.8,  25.6 (Local)

2020-11-20T17:47:52.617Z,1605894472.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.8,  25.6 (Local)

2020-11-20T17:47:52.619Z,1605894472.619 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:52.619Z,1605894472.619 [DAT](INFO): Read range and messages.
2020-11-20T17:47:52.621Z,1605894472.621 [DAT](INFO): direction in vehicle frame: [ -0.907190 forward, 0.237997 starboard, 0.346936 keelward ]
2020-11-20T17:47:52.622Z,1605894472.622 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:52.622Z,1605894472.622 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:52.638Z,1605894472.638 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:52.638Z,1605894472.638 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:52.639Z,1605894472.639 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:52.640Z,1605894472.640 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:52.717Z,1605894472.717 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:53.003Z,1605894473.003 [DAT](INFO): DAT read: 17:45:53.4119 LVL= 32752, 22481, 32754, 32755, AGC= 33, IDX= 510, 0.25, 2.737, 2.790, 2.716, 2.728, PHS=-0.006, 0.137, 0.037, RAW= 312.9, -24.9, CAL= 313.9, -25.9, ROT= 181.1,  25.9

2020-11-20T17:47:53.005Z,1605894473.005 [DAT](INFO): got valid direction response:
 17:45:53.4119 LVL= 32752, 22481, 32754, 32755, AGC= 33, IDX= 510, 0.25, 2.737, 2.790, 2.716, 2.728, PHS=-0.006, 0.137, 0.037, RAW= 312.9, -24.9, CAL= 313.9, -25.9, ROT= 181.1,  25.9

2020-11-20T17:47:53.006Z,1605894473.006 [DAT](INFO): DAT read: Rx Time:17:45:53.9119 

2020-11-20T17:47:53.007Z,1605894473.007 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:53.007Z,1605894473.007 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:47:53.008Z,1605894473.008 [DAT](INFO): direction in vehicle frame: [ -0.899392 forward, -0.017269 starboard, 0.436802 keelward ]
2020-11-20T17:47:53.009Z,1605894473.009 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:53.024Z,1605894473.024 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2020-11-20T17:47:53.024Z,1605894473.024 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-20T17:47:53.024Z,1605894473.024 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2020-11-20T17:47:53.024Z,1605894473.024 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-11-20T17:47:53.024Z,1605894473.024 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2020-11-20T17:47:53.045Z,1605894473.045 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-20T17:47:53.045Z,1605894473.045 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-20T17:47:53.045Z,1605894473.045 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2020-11-20T17:47:53.045Z,1605894473.045 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:53.046Z,1605894473.046 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:53.046Z,1605894473.046 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:53.403Z,1605894473.403 [DAT](INFO): DAT read: Bearing 332.3,  27.4 (Local)

2020-11-20T17:47:53.403Z,1605894473.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3,  27.4 (Local)

2020-11-20T17:47:53.405Z,1605894473.405 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:53.422Z,1605894473.422 [DAT](INFO): DAT read: 17:45:53.9119 LVL= 32752, 24673, 32754, 32755, AGC= 34, IDX= 510, 0.20, 2.382, 2.418, 2.369, 2.371, PHS=-0.005, 0.123, 0.046, RAW= 306.6, -27.6, CAL= 307.3, -28.2, ROT= 187.7,  28.2

2020-11-20T17:47:53.423Z,1605894473.423 [DAT](INFO): got valid direction response:
 17:45:53.9119 LVL= 32752, 24673, 32754, 32755, AGC= 34, IDX= 510, 0.20, 2.382, 2.418, 2.369, 2.371, PHS=-0.005, 0.123, 0.046, RAW= 306.6, -27.6, CAL= 307.3, -28.2, ROT= 187.7,  28.2

2020-11-20T17:47:53.423Z,1605894473.423 [DAT](INFO): Read range and messages.
2020-11-20T17:47:53.424Z,1605894473.424 [DAT](INFO): direction in vehicle frame: [ -0.873357 forward, -0.118082 starboard, 0.472551 keelward ]
2020-11-20T17:47:53.426Z,1605894473.426 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:53.451Z,1605894473.451 [lineCaptureHoming:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 0.200000 m .
2020-11-20T17:47:53.451Z,1605894473.451 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2020-11-20T17:47:53.452Z,1605894473.452 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2020-11-20T17:47:53.452Z,1605894473.452 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-20T17:47:53.452Z,1605894473.452 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:53.457Z,1605894473.457 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:53.457Z,1605894473.457 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:53.458Z,1605894473.458 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:53.459Z,1605894473.459 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.
2020-11-20T17:47:53.486Z,1605894473.486 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:53.807Z,1605894473.807 [DAT](INFO): DAT read: Rx Time:17:45:54.4119 

2020-11-20T17:47:53.807Z,1605894473.807 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:53.809Z,1605894473.809 [DAT](INFO): DAT read: Bearing 334.3,  28.0 (Local)

2020-11-20T17:47:53.809Z,1605894473.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  28.0 (Local)

2020-11-20T17:47:53.811Z,1605894473.811 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:53.816Z,1605894473.816 [DAT](INFO): DAT read: 17:45:54.4119 LVL= 32752, 22161, 32754, 32755, AGC= 33, IDX= 510, 0.20, 2.143, 2.197, 2.141, 2.131, PHS=-0.005, 0.141, 0.058, RAW= 304.7, -28.4, CAL= 305.4, -28.9, ROT= 189.6,  28.9

2020-11-20T17:47:53.817Z,1605894473.817 [DAT](INFO): got valid direction response:
 17:45:54.4119 LVL= 32752, 22161, 32754, 32755, AGC= 33, IDX= 510, 0.20, 2.143, 2.197, 2.141, 2.131, PHS=-0.005, 0.141, 0.058, RAW= 304.7, -28.4, CAL= 305.4, -28.9, ROT= 189.6,  28.9

2020-11-20T17:47:53.818Z,1605894473.818 [DAT](INFO): Read range and messages.
2020-11-20T17:47:53.819Z,1605894473.819 [DAT](INFO): direction in vehicle frame: [ -0.863205 forward, -0.146000 starboard, 0.483282 keelward ]
2020-11-20T17:47:53.819Z,1605894473.819 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:53.819Z,1605894473.819 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:53.832Z,1605894473.832 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2020-11-20T17:47:53.832Z,1605894473.832 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Running Loop=1
2020-11-20T17:47:53.832Z,1605894473.832 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize.
2020-11-20T17:47:53.832Z,1605894473.832 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-20T17:47:53.833Z,1605894473.833 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-20T17:47:53.834Z,1605894473.834 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Rollout timeout adjusted to 625.00 sec to accomodate distance.
2020-11-20T17:47:53.834Z,1605894473.834 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-11-20T17:47:53.835Z,1605894473.835 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:53.835Z,1605894473.835 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:53.835Z,1605894473.835 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:53.836Z,1605894473.836 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:53.882Z,1605894473.882 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:54.217Z,1605894474.217 [DAT](INFO): DAT read: Rx Time:17:45:54.9119 

2020-11-20T17:47:54.217Z,1605894474.217 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:54.218Z,1605894474.218 [DAT](INFO): DAT read: Bearing 330.4,  26.9 (Local)

2020-11-20T17:47:54.219Z,1605894474.219 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.4,  26.9 (Local)

2020-11-20T17:47:54.221Z,1605894474.221 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:54.222Z,1605894474.222 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:47:54.222Z,1605894474.222 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:54.237Z,1605894474.237 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 144.788358 deg, approachRate: -1.000000 m/s. posRepo size: 1
2020-11-20T17:47:54.238Z,1605894474.238 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Powering the camera and arming the DDM at range: 0.20 m.
2020-11-20T17:47:54.238Z,1605894474.238 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Final approach. Armed for intercept at range: 0.20 m.
2020-11-20T17:47:54.239Z,1605894474.239 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-11-20T17:47:54.240Z,1605894474.240 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:54.240Z,1605894474.240 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:54.241Z,1605894474.241 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:54.242Z,1605894474.242 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:54.330Z,1605894474.330 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:54.626Z,1605894474.626 [DAT](INFO): DAT read: 17:45:54.9119 LVL= 32752, 25185, 32754, 32755, AGC= 34, IDX= 510, 0.15, 2.553, 2.588, 2.536, 2.542, PHS=-0.005, 0.121, 0.042, RAW= 308.3, -26.9, CAL= 309.1, -27.6, ROT= 185.9,  27.6

2020-11-20T17:47:54.627Z,1605894474.627 [DAT](INFO): got valid direction response:
 17:45:54.9119 LVL= 32752, 25185, 32754, 32755, AGC= 34, IDX= 510, 0.15, 2.553, 2.588, 2.536, 2.542, PHS=-0.005, 0.121, 0.042, RAW= 308.3, -26.9, CAL= 309.1, -27.6, ROT= 185.9,  27.6

2020-11-20T17:47:54.629Z,1605894474.629 [DAT](INFO): DAT read: Rx Time:17:45:55.4119 

2020-11-20T17:47:54.629Z,1605894474.629 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:54.630Z,1605894474.630 [DAT](INFO): DAT read: Bearing 333.7,  28.2 (Local)

2020-11-20T17:47:54.631Z,1605894474.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7,  28.2 (Local)

2020-11-20T17:47:54.632Z,1605894474.632 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:54.633Z,1605894474.633 [DAT](INFO): Read range and messages.
2020-11-20T17:47:54.634Z,1605894474.634 [DAT](INFO): direction in vehicle frame: [ -0.881509 forward, -0.091095 starboard, 0.463296 keelward ]
2020-11-20T17:47:54.634Z,1605894474.634 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:54.634Z,1605894474.634 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:54.684Z,1605894474.684 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 144.782088 deg, approachRate: -0.000000 m/s. posRepo size: 2
2020-11-20T17:47:54.684Z,1605894474.684 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Intercept lockout. Range: 0.20 m.
2020-11-20T17:47:54.693Z,1605894474.693 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2020-11-20T17:47:54.694Z,1605894474.694 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:54.695Z,1605894474.695 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:54.695Z,1605894474.695 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:54.696Z,1605894474.696 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:54.874Z,1605894474.874 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:55.035Z,1605894475.035 [DAT](INFO): DAT read: 17:45:55.4119 LVL= 32752, 19777, 32754, 32755, AGC= 32, IDX= 510, 0.18, 2.351, 2.377, 2.336, 2.338, PHS=-0.003, 0.114, 0.046, RAW= 305.1, -28.6, CAL= 305.7, -29.2, ROT= 189.3,  29.2

2020-11-20T17:47:55.036Z,1605894475.036 [DAT](INFO): got valid direction response:
 17:45:55.4119 LVL= 32752, 19777, 32754, 32755, AGC= 32, IDX= 510, 0.18, 2.351, 2.377, 2.336, 2.338, PHS=-0.003, 0.114, 0.046, RAW= 305.1, -28.6, CAL= 305.7, -29.2, ROT= 189.3,  29.2

2020-11-20T17:47:55.037Z,1605894475.037 [DAT](INFO): DAT read: Rx Time:17:45:55.9119 

2020-11-20T17:47:55.037Z,1605894475.037 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:55.038Z,1605894475.038 [DAT](INFO): DAT read: Bearing 335.4,  28.1 (Local)

2020-11-20T17:47:55.039Z,1605894475.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4,  28.1 (Local)

2020-11-20T17:47:55.040Z,1605894475.040 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:47:55.041Z,1605894475.041 [DAT](INFO): direction in vehicle frame: [ -0.861448 forward, -0.141068 starboard, 0.487860 keelward ]
2020-11-20T17:47:55.042Z,1605894475.042 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:55.058Z,1605894475.058 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 150.278328 deg, approachRate: -0.000000 m/s. posRepo size: 3
2020-11-20T17:47:55.059Z,1605894475.059 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:55.060Z,1605894475.060 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:55.060Z,1605894475.060 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:55.423Z,1605894475.423 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:55.428Z,1605894475.428 [DAT](INFO): DAT read: 17:45:55.9119 LVL= 32752, 22689, 32754, 32755, AGC= 33, IDX= 510, 0.13, 1.999, 2.052, 2.000, 1.988, PHS=-0.005, 0.140, 0.060, RAW= 303.3, -28.8, CAL= 303.9, -29.2, ROT= 191.1,  29.2

2020-11-20T17:47:55.429Z,1605894475.429 [DAT](INFO): got valid direction response:
 17:45:55.9119 LVL= 32752, 22689, 32754, 32755, AGC= 33, IDX= 510, 0.13, 1.999, 2.052, 2.000, 1.988, PHS=-0.005, 0.140, 0.060, RAW= 303.3, -28.8, CAL= 303.9, -29.2, ROT= 191.1,  29.2

2020-11-20T17:47:55.430Z,1605894475.430 [DAT](INFO): Read range and messages.
2020-11-20T17:47:55.431Z,1605894475.431 [DAT](INFO): direction in vehicle frame: [ -0.856592 forward, -0.168057 starboard, 0.487860 keelward ]
2020-11-20T17:47:55.431Z,1605894475.431 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:55.485Z,1605894475.485 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:55.485Z,1605894475.485 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:55.486Z,1605894475.486 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:55.486Z,1605894475.486 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:55.554Z,1605894475.554 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:55.833Z,1605894475.833 [DAT](INFO): DAT read: Rx Time:17:45:56.4119 

2020-11-20T17:47:55.833Z,1605894475.833 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:55.834Z,1605894475.834 [DAT](INFO): DAT read: Bearing 332.6,  27.3 (Local)

2020-11-20T17:47:55.835Z,1605894475.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.6,  27.3 (Local)

2020-11-20T17:47:55.837Z,1605894475.837 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:55.841Z,1605894475.841 [DAT](INFO): DAT read: 17:45:56.4119 LVL= 32752, 24641, 32754, 32755, AGC= 34, IDX= 510, 0.09, 2.357, 2.392, 2.345, 2.346, PHS=-0.005, 0.121, 0.047, RAW= 305.7, -27.6, CAL= 306.5, -28.2, ROT= 188.5,  28.2

2020-11-20T17:47:55.842Z,1605894475.842 [DAT](INFO): got valid direction response:
 17:45:56.4119 LVL= 32752, 24641, 32754, 32755, AGC= 34, IDX= 510, 0.09, 2.357, 2.392, 2.345, 2.346, PHS=-0.005, 0.121, 0.047, RAW= 305.7, -27.6, CAL= 306.5, -28.2, ROT= 188.5,  28.2

2020-11-20T17:47:55.842Z,1605894475.842 [DAT](INFO): Read range and messages.
2020-11-20T17:47:55.843Z,1605894475.843 [DAT](INFO): direction in vehicle frame: [ -0.871623 forward, -0.130265 starboard, 0.472551 keelward ]
2020-11-20T17:47:55.844Z,1605894475.844 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:55.844Z,1605894475.844 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:55.859Z,1605894475.859 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 142.666505 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:55.861Z,1605894475.861 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:55.861Z,1605894475.861 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:55.861Z,1605894475.861 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:55.862Z,1605894475.862 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:55.905Z,1605894475.905 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:56.237Z,1605894476.237 [DAT](INFO): DAT read: Rx Time:17:45:56.9119 

2020-11-20T17:47:56.237Z,1605894476.237 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:56.239Z,1605894476.239 [DAT](INFO): DAT read: Bearing 334.7,  28.1 (Local)

2020-11-20T17:47:56.239Z,1605894476.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.7,  28.1 (Local)

2020-11-20T17:47:56.242Z,1605894476.242 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:56.243Z,1605894476.243 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:47:56.243Z,1605894476.243 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:56.257Z,1605894476.257 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 146.117677 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:56.258Z,1605894476.258 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Starting intercept timer at range: 0.20 m.
2020-11-20T17:47:56.259Z,1605894476.259 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:56.259Z,1605894476.259 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:56.259Z,1605894476.259 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:56.260Z,1605894476.260 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:56.298Z,1605894476.298 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:56.655Z,1605894476.655 [DAT](INFO): DAT read: 17:45:56.9119 LVL= 32752, 22433, 32754, 32755, AGC= 33, IDX= 510, 0.09, 2.047, 2.101, 2.047, 2.036, PHS=-0.005, 0.140, 0.059, RAW= 303.7, -28.7, CAL= 304.4, -29.1, ROT= 190.6,  29.1

2020-11-20T17:47:56.657Z,1605894476.657 [DAT](INFO): got valid direction response:
 17:45:56.9119 LVL= 32752, 22433, 32754, 32755, AGC= 33, IDX= 510, 0.09, 2.047, 2.101, 2.047, 2.036, PHS=-0.005, 0.140, 0.059, RAW= 303.7, -28.7, CAL= 304.4, -29.1, ROT= 190.6,  29.1

2020-11-20T17:47:56.658Z,1605894476.658 [DAT](INFO): DAT read: Rx Time:17:45:57.4119 

2020-11-20T17:47:56.658Z,1605894476.658 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:56.659Z,1605894476.659 [DAT](INFO): DAT read: Bearing 329.8,  26.7 (Local)

2020-11-20T17:47:56.660Z,1605894476.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8,  26.7 (Local)

2020-11-20T17:47:56.678Z,1605894476.678 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:56.679Z,1605894476.679 [DAT](INFO): Read range and messages.
2020-11-20T17:47:56.680Z,1605894476.680 [DAT](INFO): direction in vehicle frame: [ -0.858862 forward, -0.160732 starboard, 0.486335 keelward ]
2020-11-20T17:47:56.680Z,1605894476.680 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:56.686Z,1605894476.686 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:56.740Z,1605894476.740 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 146.110601 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:56.757Z,1605894476.757 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:56.758Z,1605894476.758 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:56.758Z,1605894476.758 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:56.758Z,1605894476.758 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:56.813Z,1605894476.813 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:57.048Z,1605894477.048 [DAT](INFO): DAT read: 17:45:57.4119 LVL= 32752, 25057, 32754, 32755, AGC= 34, IDX= 510, 0.06, 2.543, 2.577, 2.526, 2.532, PHS=-0.006, 0.119, 0.041, RAW= 308.2, -26.6, CAL= 309.1, -27.3, ROT= 185.9,  27.3

2020-11-20T17:47:57.050Z,1605894477.050 [DAT](INFO): got valid direction response:
 17:45:57.4119 LVL= 32752, 25057, 32754, 32755, AGC= 34, IDX= 510, 0.06, 2.543, 2.577, 2.526, 2.532, PHS=-0.006, 0.119, 0.041, RAW= 308.2, -26.6, CAL= 309.1, -27.3, ROT= 185.9,  27.3

2020-11-20T17:47:57.050Z,1605894477.050 [DAT](INFO): DAT read: Rx Time:17:45:57.9119 

2020-11-20T17:47:57.051Z,1605894477.051 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:57.052Z,1605894477.052 [DAT](INFO): DAT read: Bearing 334.3,  27.8 (Local)

2020-11-20T17:47:57.052Z,1605894477.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  27.8 (Local)

2020-11-20T17:47:57.052Z,1605894477.052 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:47:57.054Z,1605894477.054 [DAT](INFO): direction in vehicle frame: [ -0.883910 forward, -0.091343 starboard, 0.458650 keelward ]
2020-11-20T17:47:57.054Z,1605894477.054 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:57.071Z,1605894477.071 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 143.376818 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:57.072Z,1605894477.072 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:57.073Z,1605894477.073 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:57.073Z,1605894477.073 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:57.459Z,1605894477.459 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:57.481Z,1605894477.481 [DAT](INFO): DAT read: 17:45:57.9119 LVL= 32752, 24353, 32754, 32755, AGC= 34, IDX= 510, 0.04, 2.247, 2.282, 2.238, 2.236, PHS=-0.005, 0.121, 0.051, RAW= 303.9, -28.4, CAL= 304.6, -28.8, ROT= 190.4,  28.8

2020-11-20T17:47:57.482Z,1605894477.482 [DAT](INFO): got valid direction response:
 17:45:57.9119 LVL= 32752, 24353, 32754, 32755, AGC= 34, IDX= 510, 0.04, 2.247, 2.282, 2.238, 2.236, PHS=-0.005, 0.121, 0.051, RAW= 303.9, -28.4, CAL= 304.6, -28.8, ROT= 190.4,  28.8

2020-11-20T17:47:57.483Z,1605894477.483 [DAT](INFO): DAT read: Rx Time:17:45:58.4119 

2020-11-20T17:47:57.483Z,1605894477.483 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:57.484Z,1605894477.484 [DAT](INFO): Read range and messages.
2020-11-20T17:47:57.493Z,1605894477.493 [DAT](INFO): direction in vehicle frame: [ -0.861910 forward, -0.158190 starboard, 0.481754 keelward ]
2020-11-20T17:47:57.494Z,1605894477.494 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:57.494Z,1605894477.494 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:57.537Z,1605894477.537 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:57.537Z,1605894477.537 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:57.537Z,1605894477.537 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:57.538Z,1605894477.538 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:57.606Z,1605894477.606 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:57.847Z,1605894477.847 [DAT](INFO): DAT read: Bearing 334.9,  27.7 (Local)

2020-11-20T17:47:57.847Z,1605894477.847 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,  27.7 (Local)

2020-11-20T17:47:57.849Z,1605894477.849 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:57.854Z,1605894477.854 [DAT](INFO): DAT read: 17:45:58.4119 LVL= 32752, 22513, 32754, 32755, AGC= 33, IDX= 510, 0.04, 2.004, 2.059, 2.006, 1.994, PHS=-0.006, 0.140, 0.060, RAW= 303.1, -28.5, CAL= 303.9, -28.8, ROT= 191.1,  28.8

2020-11-20T17:47:57.855Z,1605894477.855 [DAT](INFO): got valid direction response:
 17:45:58.4119 LVL= 32752, 22513, 32754, 32755, AGC= 33, IDX= 510, 0.04, 2.004, 2.059, 2.006, 1.994, PHS=-0.006, 0.140, 0.060, RAW= 303.1, -28.5, CAL= 303.9, -28.8, ROT= 191.1,  28.8

2020-11-20T17:47:57.855Z,1605894477.855 [DAT](INFO): Read range and messages.
2020-11-20T17:47:57.856Z,1605894477.856 [DAT](INFO): direction in vehicle frame: [ -0.859913 forward, -0.168708 starboard, 0.481754 keelward ]
2020-11-20T17:47:57.857Z,1605894477.857 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:57.874Z,1605894477.874 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 143.428481 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:57.875Z,1605894477.875 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:57.876Z,1605894477.876 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:57.876Z,1605894477.876 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:57.876Z,1605894477.876 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:57.915Z,1605894477.915 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:58.274Z,1605894478.274 [DAT](INFO): DAT read: Rx Time:17:45:58.9119 

2020-11-20T17:47:58.275Z,1605894478.275 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:58.276Z,1605894478.276 [DAT](INFO): DAT read: Bearing 340.5,  28.7 (Local)

2020-11-20T17:47:58.276Z,1605894478.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.5,  28.7 (Local)

2020-11-20T17:47:58.278Z,1605894478.278 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:58.295Z,1605894478.295 [DAT](INFO): DAT read: 17:45:58.9119 LVL= 32752, 24305, 32754, 32755, AGC= 34, IDX= 510, 0.01, 1.685, 1.719, 1.687, 1.673, PHS=-0.004, 0.121, 0.062, RAW= 297.8, -30.2, CAL= 298.2, -30.2, ROT= 196.8,  30.2

2020-11-20T17:47:58.296Z,1605894478.296 [DAT](INFO): got valid direction response:
 17:45:58.9119 LVL= 32752, 24305, 32754, 32755, AGC= 34, IDX= 510, 0.01, 1.685, 1.719, 1.687, 1.673, PHS=-0.004, 0.121, 0.062, RAW= 297.8, -30.2, CAL= 298.2, -30.2, ROT= 196.8,  30.2

2020-11-20T17:47:58.296Z,1605894478.296 [DAT](INFO): Read range and messages.
2020-11-20T17:47:58.306Z,1605894478.306 [DAT](INFO): direction in vehicle frame: [ -0.827387 forward, -0.249803 starboard, 0.503020 keelward ]
2020-11-20T17:47:58.306Z,1605894478.306 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:58.306Z,1605894478.306 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:58.346Z,1605894478.346 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 142.320133 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:58.348Z,1605894478.348 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:58.348Z,1605894478.348 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:58.348Z,1605894478.348 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:58.364Z,1605894478.364 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:58.425Z,1605894478.425 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:58.655Z,1605894478.655 [DAT](INFO): DAT read: Rx Time:17:45:59.4119 

2020-11-20T17:47:58.655Z,1605894478.655 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:58.657Z,1605894478.657 [DAT](INFO): DAT read: Bearing 343.4,  29.3 (Local)

2020-11-20T17:47:58.657Z,1605894478.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.4,  29.3 (Local)

2020-11-20T17:47:58.659Z,1605894478.659 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:58.659Z,1605894478.659 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:47:58.660Z,1605894478.660 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:58.680Z,1605894478.680 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 135.522018 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:58.682Z,1605894478.682 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:58.682Z,1605894478.682 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:58.682Z,1605894478.682 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:58.683Z,1605894478.683 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:58.726Z,1605894478.726 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:59.125Z,1605894479.125 [DAT](INFO): DAT read: 17:45:59.4119 LVL= 32752, 22257, 32754, 32755, AGC= 33, IDX= 510, 0.00, 1.436, 1.489, 1.455, 1.424, PHS=-0.004, 0.140, 0.079, RAW= 295.0, -31.2, CAL= 295.3, -30.9, ROT= 199.7,  30.9

2020-11-20T17:47:59.126Z,1605894479.126 [DAT](INFO): got valid direction response:
 17:45:59.4119 LVL= 32752, 22257, 32754, 32755, AGC= 33, IDX= 510, 0.00, 1.436, 1.489, 1.455, 1.424, PHS=-0.004, 0.140, 0.079, RAW= 295.0, -31.2, CAL= 295.3, -30.9, ROT= 199.7,  30.9

2020-11-20T17:47:59.127Z,1605894479.127 [DAT](INFO): DAT read: Rx Time:17:45:59.9119 

2020-11-20T17:47:59.127Z,1605894479.127 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:59.145Z,1605894479.145 [DAT](INFO): DAT read: Bearing 348.9,  29.5 (Local)

2020-11-20T17:47:59.145Z,1605894479.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.9,  29.5 (Local)

2020-11-20T17:47:59.147Z,1605894479.147 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:47:59.148Z,1605894479.148 [DAT](INFO): Read range and messages.
2020-11-20T17:47:59.149Z,1605894479.149 [DAT](INFO): direction in vehicle frame: [ -0.807843 forward, -0.289249 starboard, 0.513541 keelward ]
2020-11-20T17:47:59.149Z,1605894479.149 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:59.149Z,1605894479.149 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:59.202Z,1605894479.202 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 135.526294 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:59.203Z,1605894479.203 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:59.203Z,1605894479.203 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:59.204Z,1605894479.204 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:59.223Z,1605894479.223 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:47:59.281Z,1605894479.281 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:47:59.467Z,1605894479.467 [DAT](INFO): DAT read: 17:45:59.9119 LVL= 32752, 24945, 32754, 32755, AGC= 34, IDX= 510,-0.03, 1.166, 1.201, 1.185, 1.153, PHS=-0.003, 0.122, 0.080, RAW= 289.6, -32.4, CAL= 289.7, -31.6, ROT= 205.3,  31.6

2020-11-20T17:47:59.469Z,1605894479.469 [DAT](INFO): got valid direction response:
 17:45:59.9119 LVL= 32752, 24945, 32754, 32755, AGC= 34, IDX= 510,-0.03, 1.166, 1.201, 1.185, 1.153, PHS=-0.003, 0.122, 0.080, RAW= 289.6, -32.4, CAL= 289.7, -31.6, ROT= 205.3,  31.6

2020-11-20T17:47:59.469Z,1605894479.469 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:47:59.470Z,1605894479.470 [DAT](INFO): direction in vehicle frame: [ -0.770031 forward, -0.363992 starboard, 0.523986 keelward ]
2020-11-20T17:47:59.492Z,1605894479.492 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 132.702653 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:47:59.493Z,1605894479.493 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:59.494Z,1605894479.494 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:59.494Z,1605894479.494 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:47:59.875Z,1605894479.875 [DAT](INFO): DAT read: Rx Time:17:46:00.4120 

2020-11-20T17:47:59.875Z,1605894479.875 [DAT](INFO): received an acoustic signal
2020-11-20T17:47:59.885Z,1605894479.885 [DAT](INFO): DAT read: Bearing 354.1,  30.2 (Local)

2020-11-20T17:47:59.885Z,1605894479.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,  30.2 (Local)

2020-11-20T17:47:59.887Z,1605894479.887 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:47:59.900Z,1605894479.900 [DAT](INFO): DAT read: 17:46:00.4120 LVL= 32752, 19441, 32754, 32755, AGC= 32, IDX= 510,-0.01, 0.857, 0.883, 0.880, 0.842, PHS=-0.001, 0.116, 0.086, RAW= 284.4, -34.1, CAL= 284.3, -32.6, ROT= 210.7,  32.6

2020-11-20T17:47:59.909Z,1605894479.909 [DAT](INFO): got valid direction response:
 17:46:00.4120 LVL= 32752, 19441, 32754, 32755, AGC= 32, IDX= 510,-0.01, 0.857, 0.883, 0.880, 0.842, PHS=-0.001, 0.116, 0.086, RAW= 284.4, -34.1, CAL= 284.3, -32.6, ROT= 210.7,  32.6

2020-11-20T17:47:59.909Z,1605894479.909 [DAT](INFO): Read range and messages.
2020-11-20T17:47:59.910Z,1605894479.910 [DAT](INFO): direction in vehicle frame: [ -0.724385 forward, -0.430108 starboard, 0.538771 keelward ]
2020-11-20T17:47:59.910Z,1605894479.910 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:47:59.911Z,1605894479.911 [DAT](INFO): publishing direction and range info
2020-11-20T17:47:59.970Z,1605894479.970 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:47:59.970Z,1605894479.970 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:47:59.970Z,1605894479.970 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:47:59.971Z,1605894479.971 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:00.030Z,1605894480.030 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:00.271Z,1605894480.271 [DAT](INFO): DAT read: Rx Time:17:46:00.9120 

2020-11-20T17:48:00.272Z,1605894480.272 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:00.289Z,1605894480.289 [DAT](INFO): DAT read: Bearing 353.2,  29.6 (Local)

2020-11-20T17:48:00.289Z,1605894480.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,  29.6 (Local)

2020-11-20T17:48:00.291Z,1605894480.291 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:00.314Z,1605894480.314 [DAT](INFO): DAT read: 17:46:00.9120 LVL= 32752, 22625, 32754, 32755, AGC= 33, IDX= 510,-0.05, 0.533, 0.586, 0.575, 0.520, PHS=-0.003, 0.141, 0.102, RAW= 285.0, -33.3, CAL= 285.0, -31.9, ROT= 210.0,  31.9

2020-11-20T17:48:00.316Z,1605894480.316 [DAT](INFO): got valid direction response:
 17:46:00.9120 LVL= 32752, 22625, 32754, 32755, AGC= 33, IDX= 510,-0.05, 0.533, 0.586, 0.575, 0.520, PHS=-0.003, 0.141, 0.102, RAW= 285.0, -33.3, CAL= 285.0, -31.9, ROT= 210.0,  31.9

2020-11-20T17:48:00.317Z,1605894480.317 [DAT](INFO): Read range and messages.
2020-11-20T17:48:00.321Z,1605894480.321 [DAT](INFO): direction in vehicle frame: [ -0.735231 forward, -0.424486 starboard, 0.528438 keelward ]
2020-11-20T17:48:00.322Z,1605894480.322 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:00.323Z,1605894480.323 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:00.336Z,1605894480.336 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 124.021933 deg, approachRate: 0.133694 m/s. posRepo size: 4
2020-11-20T17:48:00.338Z,1605894480.338 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:00.338Z,1605894480.338 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:00.338Z,1605894480.338 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:00.339Z,1605894480.339 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:00.385Z,1605894480.385 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:00.679Z,1605894480.679 [DAT](INFO): DAT read: Rx Time:17:46:01.4120 

2020-11-20T17:48:00.679Z,1605894480.679 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:00.681Z,1605894480.681 [DAT](INFO): DAT read: Bearing 352.6,  29.6 (Local)

2020-11-20T17:48:00.681Z,1605894480.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,  29.6 (Local)

2020-11-20T17:48:00.683Z,1605894480.683 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:00.684Z,1605894480.684 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:00.684Z,1605894480.684 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:00.733Z,1605894480.733 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 123.809760 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:00.735Z,1605894480.735 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:00.735Z,1605894480.735 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:00.735Z,1605894480.735 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:00.736Z,1605894480.736 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:00.792Z,1605894480.792 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:01.086Z,1605894481.086 [DAT](INFO): DAT read: 17:46:01.4120 LVL= 32752, 24497, 32754, 32755, AGC= 34, IDX= 510,-0.09, 0.948, 0.983, 0.975, 0.935, PHS=-0.003, 0.123, 0.088, RAW= 285.5, -33.1, CAL= 285.6, -31.9, ROT= 209.4,  31.9

2020-11-20T17:48:01.089Z,1605894481.089 [DAT](INFO): got valid direction response:
 17:46:01.4120 LVL= 32752, 24497, 32754, 32755, AGC= 34, IDX= 510,-0.09, 0.948, 0.983, 0.975, 0.935, PHS=-0.003, 0.123, 0.088, RAW= 285.5, -33.1, CAL= 285.6, -31.9, ROT= 209.4,  31.9

2020-11-20T17:48:01.090Z,1605894481.090 [DAT](INFO): DAT read: Rx Time:17:46:01.9120 

2020-11-20T17:48:01.090Z,1605894481.090 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:01.091Z,1605894481.091 [DAT](INFO): DAT read: Bearing 352.4,  29.4 (Local)

2020-11-20T17:48:01.091Z,1605894481.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.4,  29.4 (Local)

2020-11-20T17:48:01.093Z,1605894481.093 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:01.094Z,1605894481.094 [DAT](INFO): Read range and messages.
2020-11-20T17:48:01.095Z,1605894481.095 [DAT](INFO): direction in vehicle frame: [ -0.739636 forward, -0.416763 starboard, 0.528438 keelward ]
2020-11-20T17:48:01.095Z,1605894481.095 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:01.095Z,1605894481.095 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:01.112Z,1605894481.112 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 123.810238 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:01.114Z,1605894481.114 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:01.114Z,1605894481.114 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:01.115Z,1605894481.115 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:01.115Z,1605894481.115 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:01.166Z,1605894481.166 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:01.487Z,1605894481.487 [DAT](INFO): DAT read: 17:46:01.9120 LVL= 32752, 22513, 32754, 32755, AGC= 33, IDX= 510,-0.09, 0.598, 0.652, 0.639, 0.586, PHS=-0.004, 0.141, 0.101, RAW= 285.5, -32.9, CAL= 285.6, -31.7, ROT= 209.4,  31.7

2020-11-20T17:48:01.489Z,1605894481.489 [DAT](INFO): got valid direction response:
 17:46:01.9120 LVL= 32752, 22513, 32754, 32755, AGC= 33, IDX= 510,-0.09, 0.598, 0.652, 0.639, 0.586, PHS=-0.004, 0.141, 0.101, RAW= 285.5, -32.9, CAL= 285.6, -31.7, ROT= 209.4,  31.7

2020-11-20T17:48:01.490Z,1605894481.490 [DAT](INFO): DAT read: Rx Time:17:46:02.4120 

2020-11-20T17:48:01.490Z,1605894481.490 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:01.490Z,1605894481.490 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:01.492Z,1605894481.492 [DAT](INFO): direction in vehicle frame: [ -0.741238 forward, -0.417666 starboard, 0.525472 keelward ]
2020-11-20T17:48:01.492Z,1605894481.492 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:01.508Z,1605894481.508 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 124.283679 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:01.509Z,1605894481.509 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:01.509Z,1605894481.509 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:01.510Z,1605894481.510 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:01.943Z,1605894481.943 [DAT](INFO): DAT read: Bearing 349.9,  29.4 (Local)

2020-11-20T17:48:01.943Z,1605894481.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  29.4 (Local)

2020-11-20T17:48:01.954Z,1605894481.954 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:01.959Z,1605894481.959 [DAT](INFO): DAT read: 17:46:02.4120 LVL= 32752, 24817, 32754, 32755, AGC= 34, IDX= 510,-0.13, 1.015, 1.050, 1.037, 1.003, PHS=-0.004, 0.123, 0.083, RAW= 288.0, -32.6, CAL= 288.1, -31.6, ROT= 206.9,  31.6

2020-11-20T17:48:01.960Z,1605894481.960 [DAT](INFO): got valid direction response:
 17:46:02.4120 LVL= 32752, 24817, 32754, 32755, AGC= 34, IDX= 510,-0.13, 1.015, 1.050, 1.037, 1.003, PHS=-0.004, 0.123, 0.083, RAW= 288.0, -32.6, CAL= 288.1, -31.6, ROT= 206.9,  31.6

2020-11-20T17:48:01.973Z,1605894481.973 [DAT](INFO): Read range and messages.
2020-11-20T17:48:01.974Z,1605894481.974 [DAT](INFO): direction in vehicle frame: [ -0.759568 forward, -0.385351 starboard, 0.523986 keelward ]
2020-11-20T17:48:01.974Z,1605894481.974 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:02.040Z,1605894482.040 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:02.040Z,1605894482.040 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:02.040Z,1605894482.040 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:02.049Z,1605894482.049 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:02.098Z,1605894482.098 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:02.291Z,1605894482.291 [DAT](INFO): DAT read: Rx Time:17:46:02.9120 

2020-11-20T17:48:02.291Z,1605894482.291 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:02.293Z,1605894482.293 [DAT](INFO): DAT read: Bearing 354.8,  29.7 (Local)

2020-11-20T17:48:02.293Z,1605894482.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  29.7 (Local)

2020-11-20T17:48:02.295Z,1605894482.295 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:02.299Z,1605894482.299 [DAT](INFO): DAT read: 17:46:02.9120 LVL= 32752, 22337, 32754, 32755, AGC= 34, IDX= 510,-0.14, 0.757, 0.791, 0.788, 0.743, PHS=-0.002, 0.123, 0.093, RAW= 283.1, -33.7, CAL= 283.0, -32.2, ROT= 212.0,  32.2

2020-11-20T17:48:02.300Z,1605894482.300 [DAT](INFO): got valid direction response:
 17:46:02.9120 LVL= 32752, 22337, 32754, 32755, AGC= 34, IDX= 510,-0.14, 0.757, 0.791, 0.788, 0.743, PHS=-0.002, 0.123, 0.093, RAW= 283.1, -33.7, CAL= 283.0, -32.2, ROT= 212.0,  32.2

2020-11-20T17:48:02.301Z,1605894482.301 [DAT](INFO): Read range and messages.
2020-11-20T17:48:02.302Z,1605894482.302 [DAT](INFO): direction in vehicle frame: [ -0.717612 forward, -0.448414 starboard, 0.532876 keelward ]
2020-11-20T17:48:02.302Z,1605894482.302 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:02.302Z,1605894482.302 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:02.315Z,1605894482.315 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 126.097136 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:02.317Z,1605894482.317 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:02.317Z,1605894482.317 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:02.317Z,1605894482.317 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:02.318Z,1605894482.318 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:02.361Z,1605894482.361 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:02.731Z,1605894482.731 [DAT](INFO): DAT read: Rx Time:17:46:03.4120 

2020-11-20T17:48:02.732Z,1605894482.732 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:02.742Z,1605894482.742 [DAT](INFO): DAT read: Bearing 357.5,  29.8 (Local)

2020-11-20T17:48:02.742Z,1605894482.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  29.8 (Local)

2020-11-20T17:48:02.744Z,1605894482.744 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:02.754Z,1605894482.754 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:02.754Z,1605894482.754 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:02.974Z,1605894482.974 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 122.587648 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:02.975Z,1605894482.975 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:02.975Z,1605894482.975 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:02.976Z,1605894482.976 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:02.976Z,1605894482.976 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:03.038Z,1605894483.038 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:03.132Z,1605894483.132 [DAT](INFO): DAT read: 17:46:03.4120 LVL= 32752, 25233, 32754, 32755, AGC= 34, IDX= 510,-0.16, 0.497, 0.529, 0.533, 0.483, PHS=-0.002, 0.122, 0.099, RAW= 280.2, -34.3, CAL= 280.2, -32.5, ROT= 214.8,  32.5

2020-11-20T17:48:03.133Z,1605894483.133 [DAT](INFO): got valid direction response:
 17:46:03.4120 LVL= 32752, 25233, 32754, 32755, AGC= 34, IDX= 510,-0.16, 0.497, 0.529, 0.533, 0.483, PHS=-0.002, 0.122, 0.099, RAW= 280.2, -34.3, CAL= 280.2, -32.5, ROT= 214.8,  32.5

2020-11-20T17:48:03.134Z,1605894483.134 [DAT](INFO): DAT read: Rx Time:17:46:03.9120 

2020-11-20T17:48:03.135Z,1605894483.135 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:03.136Z,1605894483.136 [DAT](INFO): DAT read: Bearing   2.7,  29.6 (Local)

2020-11-20T17:48:03.136Z,1605894483.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  29.6 (Local)

2020-11-20T17:48:03.138Z,1605894483.138 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:03.139Z,1605894483.139 [DAT](INFO): Read range and messages.
2020-11-20T17:48:03.140Z,1605894483.140 [DAT](INFO): direction in vehicle frame: [ -0.692550 forward, -0.481335 starboard, 0.537300 keelward ]
2020-11-20T17:48:03.140Z,1605894483.140 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:03.140Z,1605894483.140 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:03.165Z,1605894483.165 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 122.593153 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:03.166Z,1605894483.166 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:03.166Z,1605894483.166 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:03.167Z,1605894483.167 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:03.167Z,1605894483.167 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:03.226Z,1605894483.226 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:03.561Z,1605894483.561 [DAT](INFO): DAT read: 17:46:03.9120 LVL= 32752, 24737, 32754, 32755, AGC= 34, IDX= 510,-0.18, 0.288, 0.317, 0.333, 0.273, PHS=-0.001, 0.119, 0.108, RAW= 274.8, -34.9, CAL= 274.6, -32.6, ROT= 220.4,  32.6

2020-11-20T17:48:03.563Z,1605894483.563 [DAT](INFO): got valid direction response:
 17:46:03.9120 LVL= 32752, 24737, 32754, 32755, AGC= 34, IDX= 510,-0.18, 0.288, 0.317, 0.333, 0.273, PHS=-0.001, 0.119, 0.108, RAW= 274.8, -34.9, CAL= 274.6, -32.6, ROT= 220.4,  32.6

2020-11-20T17:48:03.564Z,1605894483.564 [DAT](INFO): DAT read: Rx Time:17:46:04.4120 

2020-11-20T17:48:03.564Z,1605894483.564 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:03.573Z,1605894483.573 [DAT](INFO): DAT read: Bearing   2.6,  29.5 (Local)

2020-11-20T17:48:03.574Z,1605894483.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  29.5 (Local)

2020-11-20T17:48:03.575Z,1605894483.575 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:03.576Z,1605894483.576 [DAT](INFO): Read range and messages.
2020-11-20T17:48:03.585Z,1605894483.585 [DAT](INFO): direction in vehicle frame: [ -0.641560 forward, -0.546010 starboard, 0.538771 keelward ]
2020-11-20T17:48:03.586Z,1605894483.586 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:03.586Z,1605894483.586 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:03.653Z,1605894483.653 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 120.938758 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:03.661Z,1605894483.661 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:03.662Z,1605894483.662 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:03.662Z,1605894483.662 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:03.663Z,1605894483.663 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:03.714Z,1605894483.714 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:03.910Z,1605894483.910 [DAT](INFO): DAT read: 17:46:04.4120 LVL= 32752, 22097, 32754, 32755, AGC= 34, IDX= 510,-0.19, 0.137, 0.171, 0.186, 0.123, PHS=-0.001, 0.123, 0.112, RAW= 274.8, -34.7, CAL= 274.7, -32.4, ROT= 220.3,  32.4

2020-11-20T17:48:03.911Z,1605894483.911 [DAT](INFO): got valid direction response:
 17:46:04.4120 LVL= 32752, 22097, 32754, 32755, AGC= 34, IDX= 510,-0.19, 0.137, 0.171, 0.186, 0.123, PHS=-0.001, 0.123, 0.112, RAW= 274.8, -34.7, CAL= 274.7, -32.4, ROT= 220.3,  32.4

2020-11-20T17:48:03.911Z,1605894483.911 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:03.912Z,1605894483.912 [DAT](INFO): direction in vehicle frame: [ -0.643942 forward, -0.546103 starboard, 0.535827 keelward ]
2020-11-20T17:48:03.938Z,1605894483.938 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 117.621376 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:03.940Z,1605894483.940 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:03.940Z,1605894483.940 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:03.940Z,1605894483.940 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:04.343Z,1605894484.343 [DAT](INFO): DAT read: Rx Time:17:46:04.9120 

2020-11-20T17:48:04.343Z,1605894484.343 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:04.344Z,1605894484.344 [DAT](INFO): DAT read: Bearing 355.6,  30.2 (Local)

2020-11-20T17:48:04.345Z,1605894484.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  30.2 (Local)

2020-11-20T17:48:04.347Z,1605894484.347 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:04.363Z,1605894484.363 [DAT](INFO): DAT read: 17:46:04.9120 LVL= 32752, 22449, 32754, 32755, AGC= 34, IDX= 510,-0.20, 0.684, 0.714, 0.715, 0.669, PHS=-0.001, 0.120, 0.094, RAW= 281.9, -34.3, CAL= 281.8, -32.7, ROT= 213.2,  32.7

2020-11-20T17:48:04.364Z,1605894484.364 [DAT](INFO): got valid direction response:
 17:46:04.9120 LVL= 32752, 22449, 32754, 32755, AGC= 34, IDX= 510,-0.20, 0.684, 0.714, 0.715, 0.669, PHS=-0.001, 0.120, 0.094, RAW= 281.9, -34.3, CAL= 281.8, -32.7, ROT= 213.2,  32.7

2020-11-20T17:48:04.365Z,1605894484.365 [DAT](INFO): Read range and messages.
2020-11-20T17:48:04.366Z,1605894484.366 [DAT](INFO): direction in vehicle frame: [ -0.704146 forward, -0.460780 starboard, 0.540240 keelward ]
2020-11-20T17:48:04.366Z,1605894484.366 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:04.366Z,1605894484.366 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:04.412Z,1605894484.412 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:04.425Z,1605894484.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:04.425Z,1605894484.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:04.426Z,1605894484.426 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:04.474Z,1605894484.474 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:04.715Z,1605894484.715 [DAT](INFO): DAT read: Rx Time:17:46:05.4120 

2020-11-20T17:48:04.716Z,1605894484.716 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:04.717Z,1605894484.717 [DAT](INFO): DAT read: Bearing 358.4,  29.7 (Local)

2020-11-20T17:48:04.717Z,1605894484.717 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  29.7 (Local)

2020-11-20T17:48:04.719Z,1605894484.719 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:04.720Z,1605894484.720 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:04.720Z,1605894484.720 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:04.738Z,1605894484.738 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 122.270017 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:04.739Z,1605894484.739 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:04.740Z,1605894484.740 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:04.740Z,1605894484.740 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:04.741Z,1605894484.741 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:04.781Z,1605894484.781 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:05.131Z,1605894485.131 [DAT](INFO): DAT read: 17:46:05.4120 LVL= 32752, 25249, 32754, 32755, AGC= 34, IDX= 510,-0.22, 0.461, 0.496, 0.502, 0.447, PHS=-0.002, 0.124, 0.103, RAW= 278.9, -34.2, CAL= 278.9, -32.3, ROT= 216.1,  32.3

2020-11-20T17:48:05.133Z,1605894485.133 [DAT](INFO): got valid direction response:
 17:46:05.4120 LVL= 32752, 25249, 32754, 32755, AGC= 34, IDX= 510,-0.22, 0.461, 0.496, 0.502, 0.447, PHS=-0.002, 0.124, 0.103, RAW= 278.9, -34.2, CAL= 278.9, -32.3, ROT= 216.1,  32.3

2020-11-20T17:48:05.134Z,1605894485.134 [DAT](INFO): DAT read: Rx Time:17:46:05.9119 

2020-11-20T17:48:05.134Z,1605894485.134 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:05.135Z,1605894485.135 [DAT](INFO): DAT read: Bearing 327.2,  30.4 (Local)

2020-11-20T17:48:05.136Z,1605894485.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.2,  30.4 (Local)

2020-11-20T17:48:05.137Z,1605894485.137 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:05.138Z,1605894485.138 [DAT](INFO): Read range and messages.
2020-11-20T17:48:05.181Z,1605894485.181 [DAT](INFO): direction in vehicle frame: [ -0.682963 forward, -0.498025 starboard, 0.534352 keelward ]
2020-11-20T17:48:05.181Z,1605894485.181 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:05.181Z,1605894485.181 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:05.213Z,1605894485.213 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 122.279907 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:05.215Z,1605894485.215 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:05.215Z,1605894485.215 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:05.216Z,1605894485.216 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:05.216Z,1605894485.216 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:05.297Z,1605894485.297 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:05.535Z,1605894485.535 [DAT](INFO): DAT read: 17:46:05.9119 LVL= 32752, 24561, 32754, 32755, AGC= 32, IDX= 510,-0.20, 0.153, 0.189, 0.133, 0.135, PHS= 0.003, 0.130, 0.047, RAW= 310.0, -29.6, CAL= 310.4, -30.6, ROT= 184.6,  30.6

2020-11-20T17:48:05.537Z,1605894485.537 [DAT](INFO): got valid direction response:
 17:46:05.9119 LVL= 32752, 24561, 32754, 32755, AGC= 32, IDX= 510,-0.20, 0.153, 0.189, 0.133, 0.135, PHS= 0.003, 0.130, 0.047, RAW= 310.0, -29.6, CAL= 310.4, -30.6, ROT= 184.6,  30.6

2020-11-20T17:48:05.537Z,1605894485.537 [DAT](INFO): DAT read: Rx Time:17:46:06.4119 

2020-11-20T17:48:05.538Z,1605894485.538 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:05.538Z,1605894485.538 [DAT](INFO): DAT read: Bearing 353.8,  30.3 (Local)

2020-11-20T17:48:05.539Z,1605894485.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  30.3 (Local)

2020-11-20T17:48:05.539Z,1605894485.539 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:05.540Z,1605894485.540 [DAT](INFO): direction in vehicle frame: [ -0.857969 forward, -0.069031 starboard, 0.509041 keelward ]
2020-11-20T17:48:05.541Z,1605894485.541 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:05.558Z,1605894485.558 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 119.851993 deg, approachRate: -0.201773 m/s. posRepo size: 4
2020-11-20T17:48:05.559Z,1605894485.559 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Stopped intercept timer at range: 0.20 m.
2020-11-20T17:48:05.560Z,1605894485.560 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:05.561Z,1605894485.561 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:05.561Z,1605894485.561 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:05.931Z,1605894485.931 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:05.936Z,1605894485.936 [DAT](INFO): DAT read: 17:46:06.4119 LVL= 32752, 20225, 32754, 32755, AGC= 34, IDX= 510,-0.26, 0.704, 0.734, 0.732, 0.689, PHS=-0.001, 0.120, 0.090, RAW= 283.5, -34.0, CAL= 283.4, -32.5, ROT= 211.6,  32.5

2020-11-20T17:48:05.937Z,1605894485.937 [DAT](INFO): got valid direction response:
 17:46:06.4119 LVL= 32752, 20225, 32754, 32755, AGC= 34, IDX= 510,-0.26, 0.704, 0.734, 0.732, 0.689, PHS=-0.001, 0.120, 0.090, RAW= 283.5, -34.0, CAL= 283.4, -32.5, ROT= 211.6,  32.5

2020-11-20T17:48:05.937Z,1605894485.937 [DAT](INFO): Read range and messages.
2020-11-20T17:48:05.938Z,1605894485.938 [DAT](INFO): direction in vehicle frame: [ -0.718339 forward, -0.441925 starboard, 0.537300 keelward ]
2020-11-20T17:48:05.938Z,1605894485.938 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:05.986Z,1605894485.986 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:05.986Z,1605894485.986 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:05.987Z,1605894485.987 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:05.987Z,1605894485.987 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:06.066Z,1605894486.066 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:06.339Z,1605894486.339 [DAT](INFO): DAT read: Rx Time:17:46:06.9119 

2020-11-20T17:48:06.339Z,1605894486.339 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:06.340Z,1605894486.340 [DAT](INFO): DAT read: Bearing 358.0,  29.9 (Local)

2020-11-20T17:48:06.341Z,1605894486.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  29.9 (Local)

2020-11-20T17:48:06.343Z,1605894486.343 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:06.348Z,1605894486.348 [DAT](INFO): DAT read: 17:46:06.9119 LVL= 32752, 25249, 32754, 32755, AGC= 34, IDX= 510,-0.29, 0.410, 0.441, 0.448, 0.395, PHS=-0.001, 0.121, 0.101, RAW= 279.0, -34.4, CAL= 278.9, -32.5, ROT= 216.1,  32.5

2020-11-20T17:48:06.349Z,1605894486.349 [DAT](INFO): got valid direction response:
 17:46:06.9119 LVL= 32752, 25249, 32754, 32755, AGC= 34, IDX= 510,-0.29, 0.410, 0.441, 0.448, 0.395, PHS=-0.001, 0.121, 0.101, RAW= 279.0, -34.4, CAL= 278.9, -32.5, ROT= 216.1,  32.5

2020-11-20T17:48:06.349Z,1605894486.349 [DAT](INFO): Read range and messages.
2020-11-20T17:48:06.350Z,1605894486.350 [DAT](INFO): direction in vehicle frame: [ -0.681452 forward, -0.496923 starboard, 0.537300 keelward ]
2020-11-20T17:48:06.350Z,1605894486.350 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:06.351Z,1605894486.351 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:06.401Z,1605894486.401 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 123.231175 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:06.402Z,1605894486.402 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:06.402Z,1605894486.402 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:06.402Z,1605894486.402 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:06.403Z,1605894486.403 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:06.449Z,1605894486.449 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:06.744Z,1605894486.744 [DAT](INFO): DAT read: Rx Time:17:46:07.4119 

2020-11-20T17:48:06.744Z,1605894486.744 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:06.746Z,1605894486.746 [DAT](INFO): DAT read: Bearing   1.9,  29.8 (Local)

2020-11-20T17:48:06.746Z,1605894486.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  29.8 (Local)

2020-11-20T17:48:06.748Z,1605894486.748 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:06.749Z,1605894486.749 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:06.749Z,1605894486.749 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:06.763Z,1605894486.763 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 120.075996 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:06.764Z,1605894486.764 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:06.764Z,1605894486.764 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:06.764Z,1605894486.764 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:06.765Z,1605894486.765 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:06.802Z,1605894486.802 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:07.158Z,1605894487.158 [DAT](INFO): DAT read: 17:46:07.4119 LVL= 32752, 21937, 32754, 32755, AGC= 34, IDX= 510,-0.31, 0.190, 0.225, 0.240, 0.174, PHS=-0.001, 0.126, 0.113, RAW= 275.0, -34.9, CAL= 274.9, -32.6, ROT= 220.1,  32.6

2020-11-20T17:48:07.160Z,1605894487.160 [DAT](INFO): got valid direction response:
 17:46:07.4119 LVL= 32752, 21937, 32754, 32755, AGC= 34, IDX= 510,-0.31, 0.190, 0.225, 0.240, 0.174, PHS=-0.001, 0.126, 0.113, RAW= 275.0, -34.9, CAL= 274.9, -32.6, ROT= 220.1,  32.6

2020-11-20T17:48:07.169Z,1605894487.169 [DAT](INFO): DAT read: Rx Time:17:46:07.9119 

2020-11-20T17:48:07.170Z,1605894487.170 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:07.171Z,1605894487.171 [DAT](INFO): DAT read: Bearing 353.2,  30.0 (Local)

2020-11-20T17:48:07.171Z,1605894487.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,  30.0 (Local)

2020-11-20T17:48:07.182Z,1605894487.182 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:07.182Z,1605894487.182 [DAT](INFO): Read range and messages.
2020-11-20T17:48:07.183Z,1605894487.183 [DAT](INFO): direction in vehicle frame: [ -0.644410 forward, -0.542644 starboard, 0.538771 keelward ]
2020-11-20T17:48:07.184Z,1605894487.184 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:07.184Z,1605894487.184 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:07.238Z,1605894487.238 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 120.079329 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:07.239Z,1605894487.239 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:07.239Z,1605894487.239 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:07.240Z,1605894487.240 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:07.257Z,1605894487.257 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:07.305Z,1605894487.305 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:07.557Z,1605894487.557 [DAT](INFO): DAT read: 17:46:07.9119 LVL= 32752, 22641, 32754, 32755, AGC= 34, IDX= 510,-0.33, 0.676, 0.711, 0.707, 0.662, PHS=-0.002, 0.124, 0.093, RAW= 283.7, -33.7, CAL= 283.7, -32.3, ROT= 211.3,  32.3

2020-11-20T17:48:07.558Z,1605894487.558 [DAT](INFO): got valid direction response:
 17:46:07.9119 LVL= 32752, 22641, 32754, 32755, AGC= 34, IDX= 510,-0.33, 0.676, 0.711, 0.707, 0.662, PHS=-0.002, 0.124, 0.093, RAW= 283.7, -33.7, CAL= 283.7, -32.3, ROT= 211.3,  32.3

2020-11-20T17:48:07.559Z,1605894487.559 [DAT](INFO): DAT read: Rx Time:17:46:08.4119 

2020-11-20T17:48:07.560Z,1605894487.560 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:07.561Z,1605894487.561 [DAT](INFO): DAT read: Bearing 359.3,  29.8 (Local)

2020-11-20T17:48:07.561Z,1605894487.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  29.8 (Local)

2020-11-20T17:48:07.562Z,1605894487.562 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:07.563Z,1605894487.563 [DAT](INFO): direction in vehicle frame: [ -0.722241 forward, -0.439130 starboard, 0.534352 keelward ]
2020-11-20T17:48:07.563Z,1605894487.563 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:07.580Z,1605894487.580 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 117.800614 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:07.580Z,1605894487.580 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Starting intercept timer at range: 0.20 m.
2020-11-20T17:48:07.581Z,1605894487.581 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:07.582Z,1605894487.582 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:07.582Z,1605894487.582 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:07.948Z,1605894487.948 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:07.953Z,1605894487.953 [DAT](INFO): DAT read: 17:46:08.4119 LVL= 32752, 25073, 32754, 32755, AGC= 34, IDX= 510,-0.36, 0.353, 0.384, 0.394, 0.339, PHS=-0.001, 0.120, 0.103, RAW= 277.4, -34.6, CAL= 277.3, -32.5, ROT= 217.7,  32.5

2020-11-20T17:48:07.954Z,1605894487.954 [DAT](INFO): got valid direction response:
 17:46:08.4119 LVL= 32752, 25073, 32754, 32755, AGC= 34, IDX= 510,-0.36, 0.353, 0.384, 0.394, 0.339, PHS=-0.001, 0.120, 0.103, RAW= 277.4, -34.6, CAL= 277.3, -32.5, ROT= 217.7,  32.5

2020-11-20T17:48:07.955Z,1605894487.955 [DAT](INFO): Read range and messages.
2020-11-20T17:48:07.956Z,1605894487.956 [DAT](INFO): direction in vehicle frame: [ -0.667311 forward, -0.515757 starboard, 0.537300 keelward ]
2020-11-20T17:48:07.956Z,1605894487.956 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:07.988Z,1605894487.988 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:07.997Z,1605894487.997 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:07.997Z,1605894487.997 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:07.998Z,1605894487.998 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:08.051Z,1605894488.051 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:08.355Z,1605894488.355 [DAT](INFO): DAT read: Rx Time:17:46:08.9119 

2020-11-20T17:48:08.355Z,1605894488.355 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:08.357Z,1605894488.357 [DAT](INFO): DAT read: Bearing 352.8,  29.9 (Local)

2020-11-20T17:48:08.357Z,1605894488.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,  29.9 (Local)

2020-11-20T17:48:08.359Z,1605894488.359 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:08.364Z,1605894488.364 [DAT](INFO): DAT read: 17:46:08.9119 LVL= 32752, 22849, 32754, 32755, AGC= 34, IDX= 510,-0.41, 0.686, 0.721, 0.716, 0.672, PHS=-0.002, 0.124, 0.093, RAW= 283.9, -33.7, CAL= 283.9, -32.2, ROT= 211.1,  32.2

2020-11-20T17:48:08.365Z,1605894488.365 [DAT](INFO): got valid direction response:
 17:46:08.9119 LVL= 32752, 22849, 32754, 32755, AGC= 34, IDX= 510,-0.41, 0.686, 0.721, 0.716, 0.672, PHS=-0.002, 0.124, 0.093, RAW= 283.9, -33.7, CAL= 283.9, -32.2, ROT= 211.1,  32.2

2020-11-20T17:48:08.366Z,1605894488.366 [DAT](INFO): Read range and messages.
2020-11-20T17:48:08.366Z,1605894488.366 [DAT](INFO): direction in vehicle frame: [ -0.724567 forward, -0.437087 starboard, 0.532876 keelward ]
2020-11-20T17:48:08.367Z,1605894488.367 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:08.367Z,1605894488.367 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:08.381Z,1605894488.381 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 119.080400 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:08.410Z,1605894488.410 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:08.410Z,1605894488.410 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:08.410Z,1605894488.410 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:08.411Z,1605894488.411 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:08.474Z,1605894488.474 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:08.759Z,1605894488.759 [DAT](INFO): DAT read: Rx Time:17:46:09.4119 

2020-11-20T17:48:08.759Z,1605894488.759 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:08.761Z,1605894488.760 [DAT](INFO): DAT read: Bearing 350.1,  29.9 (Local)

2020-11-20T17:48:08.761Z,1605894488.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,  29.9 (Local)

2020-11-20T17:48:08.763Z,1605894488.763 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:08.767Z,1605894488.767 [DAT](INFO): DAT read: 17:46:09.4119 LVL= 32752, 25873, 32754, 32755, AGC= 34, IDX= 510,-0.47, 1.018, 1.049, 1.041, 1.005, PHS=-0.002, 0.120, 0.084, RAW= 286.5, -33.2, CAL= 286.5, -32.0, ROT= 208.5,  32.0

2020-11-20T17:48:08.768Z,1605894488.768 [DAT](INFO): got valid direction response:
 17:46:09.4119 LVL= 32752, 25873, 32754, 32755, AGC= 34, IDX= 510,-0.47, 1.018, 1.049, 1.041, 1.005, PHS=-0.002, 0.120, 0.084, RAW= 286.5, -33.2, CAL= 286.5, -32.0, ROT= 208.5,  32.0

2020-11-20T17:48:08.769Z,1605894488.769 [DAT](INFO): Read range and messages.
2020-11-20T17:48:08.770Z,1605894488.770 [DAT](INFO): direction in vehicle frame: [ -0.745279 forward, -0.404653 starboard, 0.529919 keelward ]
2020-11-20T17:48:08.770Z,1605894488.770 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:08.770Z,1605894488.770 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:08.792Z,1605894488.792 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 123.281636 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:08.793Z,1605894488.793 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:08.794Z,1605894488.794 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:08.794Z,1605894488.794 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:08.794Z,1605894488.794 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:08.842Z,1605894488.842 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:09.159Z,1605894489.159 [DAT](INFO): DAT read: Rx Time:17:46:09.9119 

2020-11-20T17:48:09.159Z,1605894489.159 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:09.161Z,1605894489.161 [DAT](INFO): DAT read: Bearing 350.3,  30.2 (Local)

2020-11-20T17:48:09.161Z,1605894489.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.3,  30.2 (Local)

2020-11-20T17:48:09.163Z,1605894489.163 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:09.164Z,1605894489.164 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:09.164Z,1605894489.164 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:09.177Z,1605894489.177 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 125.160143 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:09.179Z,1605894489.179 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:09.179Z,1605894489.179 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:09.179Z,1605894489.179 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:09.180Z,1605894489.180 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:09.238Z,1605894489.238 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:09.585Z,1605894489.585 [DAT](INFO): DAT read: 17:46:09.9119 LVL= 32752, 23025, 32754, 32755, AGC= 34, IDX= 510,-0.48, 0.849, 0.882, 0.873, 0.834, PHS=-0.002, 0.122, 0.087, RAW= 286.3, -33.5, CAL= 286.2, -32.3, ROT= 208.8,  32.3

2020-11-20T17:48:09.587Z,1605894489.587 [DAT](INFO): got valid direction response:
 17:46:09.9119 LVL= 32752, 23025, 32754, 32755, AGC= 34, IDX= 510,-0.48, 0.849, 0.882, 0.873, 0.834, PHS=-0.002, 0.122, 0.087, RAW= 286.3, -33.5, CAL= 286.2, -32.3, ROT= 208.8,  32.3

2020-11-20T17:48:09.588Z,1605894489.588 [DAT](INFO): DAT read: Rx Time:17:46:10.4119 

2020-11-20T17:48:09.588Z,1605894489.588 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:09.593Z,1605894489.593 [DAT](INFO): DAT read: Bearing 331.9,  28.9 (Local)

2020-11-20T17:48:09.594Z,1605894489.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.9,  28.9 (Local)

2020-11-20T17:48:09.595Z,1605894489.595 [DAT](INFO): DAT read: Range 5 to 9 :     0.2 m (trip time 0.1 ms) speed 0.0

2020-11-20T17:48:09.596Z,1605894489.596 [DAT](INFO): Read range and messages.
2020-11-20T17:48:09.601Z,1605894489.601 [DAT](INFO): direction in vehicle frame: [ -0.740709 forward, -0.407208 starboard, 0.534352 keelward ]
2020-11-20T17:48:09.601Z,1605894489.601 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:09.601Z,1605894489.601 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:09.636Z,1605894489.636 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 125.161004 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:09.641Z,1605894489.641 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:09.642Z,1605894489.642 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:09.642Z,1605894489.642 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:09.643Z,1605894489.643 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:09.698Z,1605894489.698 [Reporter](INFO): DAT.acoustic_contact_range 0.200000 m
2020-11-20T17:48:09.979Z,1605894489.979 [DAT](INFO): DAT read: 17:46:10.4119 LVL= 32752, 23761, 32754, 32755, AGC= 35, IDX= 509, 0.46, 1.935, 1.969, 1.926, 1.922, PHS=-0.003, 0.122, 0.052, RAW= 304.1, -29.2, CAL= 304.6, -29.7, ROT= 190.4,  29.7

2020-11-20T17:48:09.988Z,1605894489.988 [DAT](INFO): got valid direction response:
 17:46:10.4119 LVL= 32752, 23761, 32754, 32755, AGC= 35, IDX= 509, 0.46, 1.935, 1.969, 1.926, 1.922, PHS=-0.003, 0.122, 0.052, RAW= 304.1, -29.2, CAL= 304.6, -29.7, ROT= 190.4,  29.7

2020-11-20T17:48:09.989Z,1605894489.989 [DAT](INFO): DAT read: Rx Time:17:46:10.9120 

2020-11-20T17:48:09.990Z,1605894489.990 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:09.990Z,1605894489.990 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:09.991Z,1605894489.991 [DAT](INFO): direction in vehicle frame: [ -0.854361 forward, -0.156805 starboard, 0.495459 keelward ]
2020-11-20T17:48:09.992Z,1605894489.992 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:10.058Z,1605894490.058 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.200000 m, heading: 125.233677 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:10.060Z,1605894490.060 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:10.060Z,1605894490.060 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:10.061Z,1605894490.061 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:10.375Z,1605894490.375 [DAT](INFO): DAT read: Bearing 327.7,  27.7 (Local)

2020-11-20T17:48:10.375Z,1605894490.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,  27.7 (Local)

2020-11-20T17:48:10.377Z,1605894490.377 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:10.382Z,1605894490.382 [DAT](INFO): DAT read: 17:46:10.9120 LVL= 32752, 27761, 32754, 32755, AGC= 34, IDX= 510, 0.40,-2.782,-2.749,-2.798,-2.794, PHS=-0.004, 0.120, 0.043, RAW= 307.9, -27.5, CAL= 308.6, -28.2, ROT= 186.4,  28.2

2020-11-20T17:48:10.383Z,1605894490.383 [DAT](INFO): got valid direction response:
 17:46:10.9120 LVL= 32752, 27761, 32754, 32755, AGC= 34, IDX= 510, 0.40,-2.782,-2.749,-2.798,-2.794, PHS=-0.004, 0.120, 0.043, RAW= 307.9, -27.5, CAL= 308.6, -28.2, ROT= 186.4,  28.2

2020-11-20T17:48:10.384Z,1605894490.384 [DAT](INFO): Read range and messages.
2020-11-20T17:48:10.389Z,1605894490.389 [DAT](INFO): direction in vehicle frame: [ -0.875811 forward, -0.098238 starboard, 0.472551 keelward ]
2020-11-20T17:48:10.389Z,1605894490.389 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:10.416Z,1605894490.416 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:10.416Z,1605894490.416 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:10.421Z,1605894490.421 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:10.421Z,1605894490.421 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:10.466Z,1605894490.466 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:10.775Z,1605894490.775 [DAT](INFO): DAT read: Rx Time:17:46:11.4120 

2020-11-20T17:48:10.775Z,1605894490.775 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:10.785Z,1605894490.785 [DAT](INFO): DAT read: Bearing 324.2,  26.6 (Local)

2020-11-20T17:48:10.785Z,1605894490.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.2,  26.6 (Local)

2020-11-20T17:48:10.787Z,1605894490.787 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:10.800Z,1605894490.800 [DAT](INFO): DAT read: 17:46:11.4120 LVL= 32752, 23857, 32754, 32755, AGC= 34, IDX= 510, 0.36,-2.512,-2.476,-2.534,-2.523, PHS=-0.005, 0.122, 0.037, RAW= 310.9, -25.9, CAL= 311.8, -26.9, ROT= 183.2,  26.9

2020-11-20T17:48:10.814Z,1605894490.814 [DAT](INFO): got valid direction response:
 17:46:11.4120 LVL= 32752, 23857, 32754, 32755, AGC= 34, IDX= 510, 0.36,-2.512,-2.476,-2.534,-2.523, PHS=-0.005, 0.122, 0.037, RAW= 310.9, -25.9, CAL= 311.8, -26.9, ROT= 183.2,  26.9

2020-11-20T17:48:10.814Z,1605894490.814 [DAT](INFO): Read range and messages.
2020-11-20T17:48:10.815Z,1605894490.815 [DAT](INFO): direction in vehicle frame: [ -0.890407 forward, -0.049782 starboard, 0.452435 keelward ]
2020-11-20T17:48:10.815Z,1605894490.815 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:10.815Z,1605894490.815 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:10.878Z,1605894490.878 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 149.756966 deg, approachRate: 0.128443 m/s. posRepo size: 4
2020-11-20T17:48:10.880Z,1605894490.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:10.880Z,1605894490.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:10.880Z,1605894490.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:10.897Z,1605894490.897 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:10.962Z,1605894490.962 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:11.180Z,1605894491.180 [DAT](INFO): DAT read: Rx Time:17:46:11.9120 

2020-11-20T17:48:11.189Z,1605894491.189 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:11.190Z,1605894491.190 [DAT](INFO): DAT read: Bearing 326.6,  27.0 (Local)

2020-11-20T17:48:11.190Z,1605894491.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.6,  27.0 (Local)

2020-11-20T17:48:11.192Z,1605894491.192 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:11.193Z,1605894491.193 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:11.193Z,1605894491.193 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:11.259Z,1605894491.259 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 155.092545 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:11.260Z,1605894491.260 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:11.260Z,1605894491.260 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:11.261Z,1605894491.261 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:11.261Z,1605894491.261 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:11.310Z,1605894491.310 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:11.610Z,1605894491.610 [DAT](INFO): DAT read: 17:46:11.9120 LVL= 32752, 24737, 32754, 32755, AGC= 34, IDX= 510, 0.34,-2.698,-2.661,-2.715,-2.708, PHS=-0.005, 0.122, 0.042, RAW= 308.5, -26.7, CAL= 309.4, -27.4, ROT= 185.6,  27.4

2020-11-20T17:48:11.611Z,1605894491.611 [DAT](INFO): got valid direction response:
 17:46:11.9120 LVL= 32752, 24737, 32754, 32755, AGC= 34, IDX= 510, 0.34,-2.698,-2.661,-2.715,-2.708, PHS=-0.005, 0.122, 0.042, RAW= 308.5, -26.7, CAL= 309.4, -27.4, ROT= 185.6,  27.4

2020-11-20T17:48:11.612Z,1605894491.612 [DAT](INFO): DAT read: Rx Time:17:46:12.4120 

2020-11-20T17:48:11.612Z,1605894491.612 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:11.638Z,1605894491.638 [DAT](INFO): DAT read: Bearing 329.6,  28.0 (Local)

2020-11-20T17:48:11.638Z,1605894491.638 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.6,  28.0 (Local)

2020-11-20T17:48:11.640Z,1605894491.640 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:11.640Z,1605894491.640 [DAT](INFO): Read range and messages.
2020-11-20T17:48:11.650Z,1605894491.650 [DAT](INFO): direction in vehicle frame: [ -0.883578 forward, -0.086636 starboard, 0.460200 keelward ]
2020-11-20T17:48:11.650Z,1605894491.650 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:11.650Z,1605894491.650 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:11.719Z,1605894491.719 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 155.092573 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:11.733Z,1605894491.733 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:11.733Z,1605894491.733 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:11.734Z,1605894491.734 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:11.734Z,1605894491.734 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:11.805Z,1605894491.805 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:11.997Z,1605894491.997 [DAT](INFO): DAT read: 17:46:12.4120 LVL= 32752, 24801, 32754, 32755, AGC= 34, IDX= 510, 0.31,-2.909,-2.873,-2.920,-2.920, PHS=-0.004, 0.123, 0.048, RAW= 305.6, -28.1, CAL= 306.4, -28.7, ROT= 188.6,  28.7

2020-11-20T17:48:11.998Z,1605894491.998 [DAT](INFO): got valid direction response:
 17:46:12.4120 LVL= 32752, 24801, 32754, 32755, AGC= 34, IDX= 510, 0.31,-2.909,-2.873,-2.920,-2.920, PHS=-0.004, 0.123, 0.048, RAW= 305.6, -28.1, CAL= 306.4, -28.7, ROT= 188.6,  28.7

2020-11-20T17:48:11.999Z,1605894491.999 [DAT](INFO): DAT read: Rx Time:17:46:12.9120 

2020-11-20T17:48:11.999Z,1605894491.999 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:11.999Z,1605894491.999 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:12.005Z,1605894492.005 [DAT](INFO): direction in vehicle frame: [ -0.867284 forward, -0.131164 starboard, 0.480224 keelward ]
2020-11-20T17:48:12.005Z,1605894492.005 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:12.034Z,1605894492.034 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 150.764391 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:12.036Z,1605894492.036 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:12.036Z,1605894492.036 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:12.041Z,1605894492.041 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:12.391Z,1605894492.391 [DAT](INFO): DAT read: Bearing 321.6,  26.1 (Local)

2020-11-20T17:48:12.391Z,1605894492.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.6,  26.1 (Local)

2020-11-20T17:48:12.393Z,1605894492.393 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:12.398Z,1605894492.398 [DAT](INFO): DAT read: 17:46:12.9120 LVL= 32752, 26497, 32754, 32755, AGC= 34, IDX= 510, 0.28,-2.510,-2.475,-2.537,-2.521, PHS=-0.005, 0.121, 0.032, RAW= 313.2, -25.1, CAL= 314.1, -26.2, ROT= 180.9,  26.2

2020-11-20T17:48:12.399Z,1605894492.399 [DAT](INFO): got valid direction response:
 17:46:12.9120 LVL= 32752, 26497, 32754, 32755, AGC= 34, IDX= 510, 0.28,-2.510,-2.475,-2.537,-2.521, PHS=-0.005, 0.121, 0.032, RAW= 313.2, -25.1, CAL= 314.1, -26.2, ROT= 180.9,  26.2

2020-11-20T17:48:12.399Z,1605894492.399 [DAT](INFO): Read range and messages.
2020-11-20T17:48:12.400Z,1605894492.400 [DAT](INFO): direction in vehicle frame: [ -0.897148 forward, -0.014093 starboard, 0.441506 keelward ]
2020-11-20T17:48:12.429Z,1605894492.429 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:12.548Z,1605894492.548 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:12.548Z,1605894492.548 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:12.565Z,1605894492.565 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:12.566Z,1605894492.566 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:12.650Z,1605894492.650 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:12.799Z,1605894492.799 [DAT](INFO): DAT read: Rx Time:17:46:13.4120 

2020-11-20T17:48:12.799Z,1605894492.799 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:12.801Z,1605894492.801 [DAT](INFO): DAT read: Bearing 328.9,  27.7 (Local)

2020-11-20T17:48:12.801Z,1605894492.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.9,  27.7 (Local)

2020-11-20T17:48:12.803Z,1605894492.803 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:12.812Z,1605894492.812 [DAT](INFO): DAT read: 17:46:13.4120 LVL= 32752, 24945, 32754, 32755, AGC= 34, IDX= 510, 0.25,-2.822,-2.786,-2.834,-2.833, PHS=-0.004, 0.122, 0.047, RAW= 306.1, -27.8, CAL= 306.9, -28.4, ROT= 188.1,  28.4

2020-11-20T17:48:12.822Z,1605894492.822 [DAT](INFO): got valid direction response:
 17:46:13.4120 LVL= 32752, 24945, 32754, 32755, AGC= 34, IDX= 510, 0.25,-2.822,-2.786,-2.834,-2.833, PHS=-0.004, 0.122, 0.047, RAW= 306.1, -27.8, CAL= 306.9, -28.4, ROT= 188.1,  28.4

2020-11-20T17:48:12.822Z,1605894492.822 [DAT](INFO): Read range and messages.
2020-11-20T17:48:12.823Z,1605894492.823 [DAT](INFO): direction in vehicle frame: [ -0.870873 forward, -0.123944 starboard, 0.475624 keelward ]
2020-11-20T17:48:12.823Z,1605894492.823 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:12.824Z,1605894492.824 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:12.842Z,1605894492.842 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 159.529518 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:12.843Z,1605894492.843 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:12.844Z,1605894492.844 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:12.844Z,1605894492.844 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:12.849Z,1605894492.849 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:12.889Z,1605894492.889 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:13.211Z,1605894493.211 [DAT](INFO): DAT read: Rx Time:17:46:13.9120 

2020-11-20T17:48:13.212Z,1605894493.212 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:13.225Z,1605894493.225 [DAT](INFO): DAT read: Bearing 322.4,  26.5 (Local)

2020-11-20T17:48:13.226Z,1605894493.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.4,  26.5 (Local)

2020-11-20T17:48:13.228Z,1605894493.228 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:13.228Z,1605894493.228 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:13.241Z,1605894493.241 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:13.295Z,1605894493.295 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 146.945632 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:13.296Z,1605894493.296 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:13.296Z,1605894493.296 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:13.313Z,1605894493.313 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:13.313Z,1605894493.313 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:13.378Z,1605894493.378 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:13.614Z,1605894493.614 [DAT](INFO): DAT read: 17:46:13.9120 LVL= 32752, 23697, 32754, 32755, AGC= 34, IDX= 510, 0.22,-2.455,-2.418,-2.479,-2.466, PHS=-0.005, 0.124, 0.035, RAW= 312.3, -25.7, CAL= 313.2, -26.7, ROT= 181.8,  26.7

2020-11-20T17:48:13.615Z,1605894493.615 [DAT](INFO): got valid direction response:
 17:46:13.9120 LVL= 32752, 23697, 32754, 32755, AGC= 34, IDX= 510, 0.22,-2.455,-2.418,-2.479,-2.466, PHS=-0.005, 0.124, 0.035, RAW= 312.3, -25.7, CAL= 313.2, -26.7, ROT= 181.8,  26.7

2020-11-20T17:48:13.617Z,1605894493.617 [DAT](INFO): DAT read: Rx Time:17:46:14.4120 

2020-11-20T17:48:13.617Z,1605894493.617 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:13.618Z,1605894493.618 [DAT](INFO): DAT read: Bearing 325.8,  27.1 (Local)

2020-11-20T17:48:13.618Z,1605894493.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.8,  27.1 (Local)

2020-11-20T17:48:13.620Z,1605894493.620 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:13.621Z,1605894493.621 [DAT](INFO): Read range and messages.
2020-11-20T17:48:13.622Z,1605894493.622 [DAT](INFO): direction in vehicle frame: [ -0.892931 forward, -0.028062 starboard, 0.449319 keelward ]
2020-11-20T17:48:13.623Z,1605894493.623 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:13.623Z,1605894493.623 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:13.670Z,1605894493.670 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 146.945632 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:13.671Z,1605894493.671 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:13.672Z,1605894493.672 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:13.672Z,1605894493.672 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:13.673Z,1605894493.673 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:13.723Z,1605894493.723 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:14.012Z,1605894494.012 [DAT](INFO): DAT read: 17:46:14.4120 LVL= 32752, 22353, 32754, 32755, AGC= 33, IDX= 510, 0.21,-2.774,-2.718,-2.785,-2.785, PHS=-0.005, 0.142, 0.048, RAW= 308.9, -26.8, CAL= 309.8, -27.6, ROT= 185.2,  27.6

2020-11-20T17:48:14.042Z,1605894494.042 [DAT](INFO): got valid direction response:
 17:46:14.4120 LVL= 32752, 22353, 32754, 32755, AGC= 33, IDX= 510, 0.21,-2.774,-2.718,-2.785,-2.785, PHS=-0.005, 0.142, 0.048, RAW= 308.9, -26.8, CAL= 309.8, -27.6, ROT= 185.2,  27.6

2020-11-20T17:48:14.043Z,1605894494.043 [DAT](INFO): DAT read: Rx Time:17:46:14.9120 

2020-11-20T17:48:14.043Z,1605894494.043 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:14.044Z,1605894494.044 [DAT](INFO): DAT read: Bearing 329.6,  27.5 (Local)

2020-11-20T17:48:14.044Z,1605894494.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.6,  27.5 (Local)

2020-11-20T17:48:14.045Z,1605894494.045 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:14.046Z,1605894494.046 [DAT](INFO): direction in vehicle frame: [ -0.882556 forward, -0.080319 starboard, 0.463296 keelward ]
2020-11-20T17:48:14.046Z,1605894494.046 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:14.107Z,1605894494.107 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 157.817367 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:14.129Z,1605894494.129 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:14.129Z,1605894494.129 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:14.129Z,1605894494.129 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:14.416Z,1605894494.416 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:14.420Z,1605894494.420 [DAT](INFO): DAT read: 17:46:14.9120 LVL= 32752, 21905, 32754, 32755, AGC= 33, IDX= 510, 0.19,-3.086,-3.030,-3.088,-3.096, PHS=-0.006, 0.141, 0.056, RAW= 305.1, -27.8, CAL= 305.9, -28.3, ROT= 189.1,  28.3

2020-11-20T17:48:14.430Z,1605894494.430 [DAT](INFO): got valid direction response:
 17:46:14.9120 LVL= 32752, 21905, 32754, 32755, AGC= 33, IDX= 510, 0.19,-3.086,-3.030,-3.088,-3.096, PHS=-0.006, 0.141, 0.056, RAW= 305.1, -27.8, CAL= 305.9, -28.3, ROT= 189.1,  28.3

2020-11-20T17:48:14.430Z,1605894494.430 [DAT](INFO): Read range and messages.
2020-11-20T17:48:14.431Z,1605894494.431 [DAT](INFO): direction in vehicle frame: [ -0.869395 forward, -0.139255 starboard, 0.474088 keelward ]
2020-11-20T17:48:14.431Z,1605894494.431 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:14.458Z,1605894494.458 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:14.458Z,1605894494.458 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:14.458Z,1605894494.458 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:14.459Z,1605894494.459 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:14.515Z,1605894494.515 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:14.815Z,1605894494.815 [DAT](INFO): DAT read: Rx Time:17:46:15.4120 

2020-11-20T17:48:14.815Z,1605894494.815 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:14.816Z,1605894494.816 [DAT](INFO): DAT read: Bearing 324.5,  26.8 (Local)

2020-11-20T17:48:14.817Z,1605894494.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.5,  26.8 (Local)

2020-11-20T17:48:14.818Z,1605894494.818 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:14.823Z,1605894494.823 [DAT](INFO): DAT read: 17:46:15.4120 LVL= 32752, 21873, 32754, 32755, AGC= 33, IDX= 510, 0.16,-2.651,-2.597,-2.664,-2.661, PHS=-0.006, 0.139, 0.045, RAW= 309.9, -26.3, CAL= 310.8, -27.1, ROT= 184.2,  27.1

2020-11-20T17:48:14.824Z,1605894494.824 [DAT](INFO): got valid direction response:
 17:46:15.4120 LVL= 32752, 21873, 32754, 32755, AGC= 33, IDX= 510, 0.16,-2.651,-2.597,-2.664,-2.661, PHS=-0.006, 0.139, 0.045, RAW= 309.9, -26.3, CAL= 310.8, -27.1, ROT= 184.2,  27.1

2020-11-20T17:48:14.825Z,1605894494.825 [DAT](INFO): Read range and messages.
2020-11-20T17:48:14.826Z,1605894494.826 [DAT](INFO): direction in vehicle frame: [ -0.887822 forward, -0.065198 starboard, 0.455545 keelward ]
2020-11-20T17:48:14.826Z,1605894494.826 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:14.826Z,1605894494.826 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:15.068Z,1605894495.068 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 145.158418 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:15.070Z,1605894495.070 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:15.070Z,1605894495.070 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:15.071Z,1605894495.071 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:15.071Z,1605894495.071 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:15.110Z,1605894495.110 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:15.221Z,1605894495.221 [DAT](INFO): DAT read: Rx Time:17:46:15.9120 

2020-11-20T17:48:15.221Z,1605894495.221 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:15.222Z,1605894495.222 [DAT](INFO): DAT read: Bearing 328.5,  27.6 (Local)

2020-11-20T17:48:15.223Z,1605894495.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.5,  27.6 (Local)

2020-11-20T17:48:15.225Z,1605894495.225 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:15.226Z,1605894495.226 [DAT](ERROR): Read range message, but no direction.
2020-11-20T17:48:15.226Z,1605894495.226 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:15.248Z,1605894495.248 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 153.237097 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:15.250Z,1605894495.250 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:15.250Z,1605894495.250 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:15.251Z,1605894495.251 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:15.251Z,1605894495.251 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:15.294Z,1605894495.294 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:15.654Z,1605894495.654 [DAT](INFO): DAT read: 17:46:15.9120 LVL= 32752, 22497, 32754, 32755, AGC= 33, IDX= 510, 0.14,-2.900,-2.845,-2.904,-2.910, PHS=-0.006, 0.140, 0.054, RAW= 306.1, -27.7, CAL= 306.9, -28.3, ROT= 188.1,  28.3

2020-11-20T17:48:15.656Z,1605894495.656 [DAT](INFO): got valid direction response:
 17:46:15.9120 LVL= 32752, 22497, 32754, 32755, AGC= 33, IDX= 510, 0.14,-2.900,-2.845,-2.904,-2.910, PHS=-0.006, 0.140, 0.054, RAW= 306.1, -27.7, CAL= 306.9, -28.3, ROT= 188.1,  28.3

2020-11-20T17:48:15.673Z,1605894495.673 [DAT](INFO): DAT read: Rx Time:17:46:16.4120 

2020-11-20T17:48:15.673Z,1605894495.673 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:15.674Z,1605894495.674 [DAT](INFO): DAT read: Bearing 323.7,  26.9 (Local)

2020-11-20T17:48:15.675Z,1605894495.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.7,  26.9 (Local)

2020-11-20T17:48:15.681Z,1605894495.681 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:15.682Z,1605894495.682 [DAT](INFO): Read range and messages.
2020-11-20T17:48:15.683Z,1605894495.683 [DAT](INFO): direction in vehicle frame: [ -0.871693 forward, -0.124060 starboard, 0.474088 keelward ]
2020-11-20T17:48:15.683Z,1605894495.683 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:15.683Z,1605894495.683 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:15.752Z,1605894495.752 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 153.223888 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:15.762Z,1605894495.762 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:15.762Z,1605894495.762 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:15.762Z,1605894495.762 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:15.763Z,1605894495.763 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:15.814Z,1605894495.814 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:16.033Z,1605894496.033 [DAT](INFO): DAT read: 17:46:16.4120 LVL= 32752, 21841, 32754, 32755, AGC= 33, IDX= 510, 0.12,-2.599,-2.542,-2.613,-2.609, PHS=-0.005, 0.142, 0.045, RAW= 310.6, -26.3, CAL= 311.4, -27.2, ROT= 183.6,  27.2

2020-11-20T17:48:16.034Z,1605894496.034 [DAT](INFO): got valid direction response:
 17:46:16.4120 LVL= 32752, 21841, 32754, 32755, AGC= 33, IDX= 510, 0.12,-2.599,-2.542,-2.613,-2.609, PHS=-0.005, 0.142, 0.045, RAW= 310.6, -26.3, CAL= 311.4, -27.2, ROT= 183.6,  27.2

2020-11-20T17:48:16.035Z,1605894496.035 [DAT](INFO): DAT read: Rx Time:17:46:16.9120 

2020-11-20T17:48:16.035Z,1605894496.035 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:16.036Z,1605894496.036 [DAT](INFO): DAT read: Bearing 326.2,  27.1 (Local)

2020-11-20T17:48:16.037Z,1605894496.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.2,  27.1 (Local)

2020-11-20T17:48:16.037Z,1605894496.037 [DAT](INFO): Read direction message, but no range.
2020-11-20T17:48:16.038Z,1605894496.038 [DAT](INFO): direction in vehicle frame: [ -0.887661 forward, -0.055847 starboard, 0.457098 keelward ]
2020-11-20T17:48:16.039Z,1605894496.039 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:16.066Z,1605894496.066 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 146.861348 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:16.068Z,1605894496.068 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:16.068Z,1605894496.068 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:16.068Z,1605894496.068 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:16.432Z,1605894496.432 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:16.436Z,1605894496.436 [DAT](INFO): DAT read: 17:46:16.9120 LVL= 32752, 22497, 32754, 32755, AGC= 33, IDX= 510, 0.10,-2.835,-2.780,-2.844,-2.845, PHS=-0.006, 0.140, 0.049, RAW= 308.0, -26.9, CAL= 308.9, -27.6, ROT= 186.1,  27.6

2020-11-20T17:48:16.453Z,1605894496.453 [DAT](INFO): got valid direction response:
 17:46:16.9120 LVL= 32752, 22497, 32754, 32755, AGC= 33, IDX= 510, 0.10,-2.835,-2.780,-2.844,-2.845, PHS=-0.006, 0.140, 0.049, RAW= 308.0, -26.9, CAL= 308.9, -27.6, ROT= 186.1,  27.6

2020-11-20T17:48:16.454Z,1605894496.454 [DAT](INFO): Read range and messages.
2020-11-20T17:48:16.455Z,1605894496.455 [DAT](INFO): direction in vehicle frame: [ -0.881186 forward, -0.094172 starboard, 0.463296 keelward ]
2020-11-20T17:48:16.455Z,1605894496.455 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:16.513Z,1605894496.513 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:16.513Z,1605894496.513 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:16.514Z,1605894496.514 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:16.514Z,1605894496.514 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:16.586Z,1605894496.586 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:16.833Z,1605894496.833 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-20T17:48:16.837Z,1605894496.837 [DAT](INFO): DAT read: Rx Time:17:46:17.4120 

2020-11-20T17:48:16.838Z,1605894496.838 [DAT](INFO): received an acoustic signal
2020-11-20T17:48:16.839Z,1605894496.839 [DAT](INFO): DAT read: Bearing 330.8,  28.0 (Local)

2020-11-20T17:48:16.839Z,1605894496.839 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  28.0 (Local)

2020-11-20T17:48:16.841Z,1605894496.841 [DAT](INFO): DAT read: Range 5 to 9 :     0.3 m (trip time 0.2 ms) speed 0.0

2020-11-20T17:48:16.847Z,1605894496.847 [DAT](INFO): DAT read: 17:46:17.4120 LVL= 32752, 22225, 32754, 32755, AGC= 33, IDX= 510, 0.09,-3.081,-3.025,-3.079,-3.091, PHS=-0.006, 0.141, 0.060, RAW= 303.5, -28.5, CAL= 304.2, -28.9, ROT= 190.8,  28.9

2020-11-20T17:48:16.848Z,1605894496.848 [DAT](INFO): got valid direction response:
 17:46:17.4120 LVL= 32752, 22225, 32754, 32755, AGC= 33, IDX= 510, 0.09,-3.081,-3.025,-3.079,-3.091, PHS=-0.006, 0.141, 0.060, RAW= 303.5, -28.5, CAL= 304.2, -28.9, ROT= 190.8,  28.9

2020-11-20T17:48:16.848Z,1605894496.848 [DAT](INFO): Read range and messages.
2020-11-20T17:48:16.849Z,1605894496.849 [DAT](INFO): direction in vehicle frame: [ -0.859958 forward, -0.164046 starboard, 0.483282 keelward ]
2020-11-20T17:48:16.850Z,1605894496.850 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-20T17:48:16.850Z,1605894496.850 [DAT](INFO): publishing direction and range info
2020-11-20T17:48:16.863Z,1605894496.863 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 149.959822 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:16.865Z,1605894496.865 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:16.865Z,1605894496.865 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:16.865Z,1605894496.865 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-20T17:48:16.866Z,1605894496.866 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 50 samples.
2020-11-20T17:48:16.905Z,1605894496.905 [Reporter](INFO): DAT.acoustic_contact_range 0.300000 m
2020-11-20T17:48:17.332Z,1605894497.332 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 0.300000 m, heading: 142.903786 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-20T17:48:17.334Z,1605894497.334 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:17.334Z,1605894497.334 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:17.334Z,1605894497.334 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:17.655Z,1605894497.655 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:17.656Z,1605894497.656 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:17.656Z,1605894497.656 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:18.062Z,1605894498.062 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:18.063Z,1605894498.063 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:18.063Z,1605894498.063 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:18.477Z,1605894498.477 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:18.477Z,1605894498.477 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:18.477Z,1605894498.477 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:18.874Z,1605894498.874 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:18.874Z,1605894498.874 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:18.875Z,1605894498.875 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:19.274Z,1605894499.274 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:19.274Z,1605894499.274 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:19.275Z,1605894499.275 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:19.735Z,1605894499.735 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:19.735Z,1605894499.735 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:19.735Z,1605894499.735 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:20.086Z,1605894500.086 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:20.086Z,1605894500.086 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:20.087Z,1605894500.087 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:20.489Z,1605894500.489 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:20.489Z,1605894500.489 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:20.490Z,1605894500.490 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:20.909Z,1605894500.909 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:20.909Z,1605894500.909 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:20.909Z,1605894500.909 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:21.304Z,1605894501.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:21.304Z,1605894501.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:21.305Z,1605894501.305 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:21.714Z,1605894501.714 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:21.714Z,1605894501.714 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:21.715Z,1605894501.715 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:22.100Z,1605894502.100 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:22.101Z,1605894502.101 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:22.101Z,1605894502.101 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-20T17:48:22.101Z,1605894502.101 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-20T17:48:22.509Z,1605894502.509 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:22.509Z,1605894502.509 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:22.510Z,1605894502.510 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:22.915Z,1605894502.915 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:22.915Z,1605894502.915 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:22.915Z,1605894502.915 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:23.306Z,1605894503.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:23.306Z,1605894503.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:23.307Z,1605894503.307 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:23.718Z,1605894503.718 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:23.718Z,1605894503.718 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:23.718Z,1605894503.718 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:24.124Z,1605894504.124 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:24.124Z,1605894504.124 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:24.124Z,1605894504.124 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:24.532Z,1605894504.532 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:24.532Z,1605894504.532 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:24.533Z,1605894504.533 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:24.929Z,1605894504.929 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:24.929Z,1605894504.929 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:24.930Z,1605894504.930 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:25.333Z,1605894505.333 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:25.333Z,1605894505.333 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:25.334Z,1605894505.334 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:25.737Z,1605894505.737 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:25.737Z,1605894505.737 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:25.737Z,1605894505.737 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:26.149Z,1605894506.149 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:26.149Z,1605894506.149 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:26.150Z,1605894506.150 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:26.545Z,1605894506.545 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:26.545Z,1605894506.545 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:26.546Z,1605894506.546 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:26.000Z,1605894507.000 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:26.000Z,1605894507.000 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:27.000Z,1605894507.000 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:27.359Z,1605894507.359 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:27.359Z,1605894507.359 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:27.360Z,1605894507.360 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-20T17:48:27.360Z,1605894507.360 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-20T17:48:27.774Z,1605894507.774 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:27.774Z,1605894507.774 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:27.775Z,1605894507.775 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:28.187Z,1605894508.187 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:28.187Z,1605894508.187 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:28.188Z,1605894508.188 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:28.569Z,1605894508.569 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:28.570Z,1605894508.570 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:28.570Z,1605894508.570 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:28.970Z,1605894508.970 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:28.970Z,1605894508.970 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:28.970Z,1605894508.970 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:29.386Z,1605894509.386 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:29.386Z,1605894509.386 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:29.386Z,1605894509.386 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:29.778Z,1605894509.778 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:29.778Z,1605894509.778 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:29.779Z,1605894509.779 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:30.175Z,1605894510.175 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:30.176Z,1605894510.176 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:30.176Z,1605894510.176 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:30.590Z,1605894510.590 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:30.590Z,1605894510.590 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:30.590Z,1605894510.590 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:31.001Z,1605894511.001 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:31.001Z,1605894511.001 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:31.001Z,1605894511.001 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:31.393Z,1605894511.393 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:31.393Z,1605894511.393 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:31.393Z,1605894511.393 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:31.796Z,1605894511.796 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:31.797Z,1605894511.797 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:31.797Z,1605894511.797 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:32.205Z,1605894512.205 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:32.205Z,1605894512.205 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:32.205Z,1605894512.205 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:32.621Z,1605894512.621 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:32.621Z,1605894512.621 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:32.621Z,1605894512.621 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-20T17:48:32.621Z,1605894512.621 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-20T17:48:33.008Z,1605894513.008 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:33.009Z,1605894513.009 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:33.009Z,1605894513.009 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:33.425Z,1605894513.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:33.425Z,1605894513.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:33.425Z,1605894513.425 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:33.823Z,1605894513.823 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:33.823Z,1605894513.823 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:33.824Z,1605894513.824 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:34.220Z,1605894514.220 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:34.221Z,1605894514.221 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:34.221Z,1605894514.221 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:34.625Z,1605894514.625 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:34.625Z,1605894514.625 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:34.626Z,1605894514.626 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:35.029Z,1605894515.029 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:35.029Z,1605894515.029 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:35.030Z,1605894515.030 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:35.440Z,1605894515.440 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:35.440Z,1605894515.440 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:35.440Z,1605894515.440 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:35.837Z,1605894515.837 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:35.837Z,1605894515.837 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:35.838Z,1605894515.838 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:36.237Z,1605894516.237 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:36.237Z,1605894516.237 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:36.238Z,1605894516.238 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:36.645Z,1605894516.645 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:36.645Z,1605894516.645 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:36.646Z,1605894516.646 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:37.056Z,1605894517.056 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:37.057Z,1605894517.057 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:37.057Z,1605894517.057 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:37.453Z,1605894517.453 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:37.454Z,1605894517.454 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:37.454Z,1605894517.454 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:37.851Z,1605894517.851 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:37.851Z,1605894517.851 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:37.851Z,1605894517.851 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-20T17:48:37.852Z,1605894517.852 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-20T17:48:38.265Z,1605894518.265 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:38.265Z,1605894518.265 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:38.266Z,1605894518.266 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:38.676Z,1605894518.676 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:38.677Z,1605894518.677 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:38.677Z,1605894518.677 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:39.120Z,1605894519.120 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:39.120Z,1605894519.120 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:39.121Z,1605894519.121 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:39.475Z,1605894519.475 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:39.475Z,1605894519.475 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:39.475Z,1605894519.475 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:39.898Z,1605894519.898 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:39.898Z,1605894519.898 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:39.899Z,1605894519.899 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:40.213Z,1605894520.213 [CommandLine](IMPORTANT): got command stop
2020-11-20T17:48:40.213Z,1605894520.213 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-11-20T17:48:40.294Z,1605894520.294 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-20T17:48:40.294Z,1605894520.294 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-20T17:48:40.294Z,1605894520.294 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-20T17:48:40.295Z,1605894520.295 [MissionManager](INFO): MissionManager is completed.
2020-11-20T17:48:40.295Z,1605894520.295 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming] Stopped
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:TrackTransponder] Stopped
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:TrackTransponder:A.] Stopped
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Uninitializing TrackAcousticContact.
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:B.Mass] Stopped
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:B.Mass](DEBUG): Uninitialize.
2020-11-20T17:48:40.295Z,1605894520.295 [lineCaptureHoming:Lap] Stopped
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Stopped
2020-11-20T17:48:40.296Z,1605894520.296 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-20T17:48:40.688Z,1605894520.688 [MissionManager](IMPORTANT): Started mission Default
2020-11-20T17:48:40.688Z,1605894520.688 [Default] Running Loop=1
2020-11-20T17:48:40.688Z,1605894520.688 [Default](DEBUG): Aggregate::initialize Default
2020-11-20T17:48:40.688Z,1605894520.688 [Default:B.GoToSurface] Running Loop=1
2020-11-20T17:48:40.688Z,1605894520.688 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-20T17:48:40.689Z,1605894520.689 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-20T17:48:40.689Z,1605894520.689 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-20T17:48:40.689Z,1605894520.689 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-20T17:48:40.689Z,1605894520.689 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-20T17:48:40.690Z,1605894520.690 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-20T17:48:40.690Z,1605894520.690 [Default:A.Wait] Running Loop=1
2020-11-20T17:48:40.690Z,1605894520.690 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-11-20T17:48:54.011Z,1605894534.011 [Default:A.Wait](INFO): Done Waiting.
2020-11-20T17:48:54.011Z,1605894534.011 [Default:A.Wait] Stopped
2020-11-20T17:48:54.011Z,1605894534.011 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-20T17:48:54.425Z,1605894534.425 [Default:CheckIn] Running Loop=1
2020-11-20T17:48:54.425Z,1605894534.425 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-11-20T17:48:54.425Z,1605894534.425 [Default:CheckIn:Read_GPS] Running Loop=1
2020-11-20T17:53:54.586Z,1605894834.586 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-11-20T17:48:54.4Z
2020-11-20T17:53:54.586Z,1605894834.586 [Default:CheckIn:Read_GPS] Stopped
2020-11-20T17:53:54.586Z,1605894834.586 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-11-20T17:53:54.996Z,1605894834.996 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-20T17:53:58.622Z,1605894838.622 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-11-20T17:54:04.004Z,1605894844.004 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20201120T173928/Courier0000.lzma
2020-11-20T17:54:05.006Z,1605894845.006 [DataOverHttps](INFO): Moved sent file to Logs/20201120T173928/Courier0000.lzma.bak
2020-11-20T17:54:05.006Z,1605894845.006 [DataOverHttps](INFO): SBD MOMSN=13294511
2020-11-20T17:54:13.670Z,1605894853.670 [CommandLine](IMPORTANT): got command quit
2020-11-20T17:54:14.677Z,1605894854.677 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:14.677Z,1605894854.677 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:14.692Z,1605894854.692 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-11-20T17:54:14.693Z,1605894854.693 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:14.693Z,1605894854.693 [CommandLine](INFO): Join timeout helper Thread ID is 6395
2020-11-20T17:54:14.694Z,1605894854.694 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-11-20T17:54:14.694Z,1605894854.694 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:14.694Z,1605894854.694 [NavChartDb](INFO): Join timeout helper Thread ID is 6396
2020-11-20T17:54:14.905Z,1605894854.905 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:14.905Z,1605894854.905 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:14.921Z,1605894854.921 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2020-11-20T17:54:14.921Z,1605894854.921 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:14.921Z,1605894854.921 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 6397
2020-11-20T17:54:15.037Z,1605894855.037 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:15.037Z,1605894855.037 [WetLabsBB2FL](INFO): Powering down
2020-11-20T17:54:15.038Z,1605894855.038 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.041Z,1605894855.041 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2020-11-20T17:54:15.041Z,1605894855.041 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.041Z,1605894855.041 [CTD_Seabird](INFO): Join timeout helper Thread ID is 6398
2020-11-20T17:54:15.369Z,1605894855.369 [CTD_Seabird](INFO): Powering down
2020-11-20T17:54:15.381Z,1605894855.381 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:15.381Z,1605894855.381 [CTD_Seabird](INFO): Powering down
2020-11-20T17:54:15.393Z,1605894855.393 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.401Z,1605894855.401 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-11-20T17:54:15.401Z,1605894855.401 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.401Z,1605894855.401 [Radio_Surface](INFO): Join timeout helper Thread ID is 6399
2020-11-20T17:54:15.721Z,1605894855.721 [Radio_Surface](INFO): Powering down
2020-11-20T17:54:15.722Z,1605894855.722 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:15.722Z,1605894855.722 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.729Z,1605894855.729 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2020-11-20T17:54:15.730Z,1605894855.730 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:15.730Z,1605894855.730 [Onboard](INFO): Join timeout helper Thread ID is 6400
2020-11-20T17:54:16.149Z,1605894856.149 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-11-20T17:54:18.401Z,1605894858.401 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:18.401Z,1605894858.401 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:18.409Z,1605894858.409 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-11-20T17:54:18.409Z,1605894858.409 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:18.410Z,1605894858.410 [DataOverHttps](INFO): Join timeout helper Thread ID is 6401
2020-11-20T17:54:19.162Z,1605894859.162 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:19.162Z,1605894859.162 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.181Z,1605894859.181 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-11-20T17:54:19.181Z,1605894859.181 [logger ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.182Z,1605894859.182 [logger](INFO): Join timeout helper Thread ID is 6402
2020-11-20T17:54:19.229Z,1605894859.229 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:19.229Z,1605894859.229 [logger ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.241Z,1605894859.241 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-11-20T17:54:19.241Z,1605894859.241 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.242Z,1605894859.242 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-11-20T17:54:19.242Z,1605894859.242 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.242Z,1605894859.242 [controlThread](INFO): Join timeout helper Thread ID is 6403
2020-11-20T17:54:19.244Z,1605894859.244 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-20T17:54:19.245Z,1605894859.245 [controlThread](DEBUG): Uninitializing ControlThread
2020-11-20T17:54:19.245Z,1605894859.245 [AHRS_M2](INFO): Powering down
2020-11-20T17:54:19.317Z,1605894859.317 [NAL9602](INFO): Powering down
2020-11-20T17:54:19.318Z,1605894859.318 [DAT](INFO): Powering down
2020-11-20T17:54:19.439Z,1605894859.439 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-11-20T17:54:19.440Z,1605894859.440 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-11-20T17:54:19.441Z,1605894859.441 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-11-20T17:54:19.442Z,1605894859.442 [MissionManager](INFO): Uninitializing Mission Default
2020-11-20T17:54:19.442Z,1605894859.442 [Default] Stopped
2020-11-20T17:54:19.442Z,1605894859.442 [Default](DEBUG): Aggregate::uninitialize Default
2020-11-20T17:54:19.442Z,1605894859.442 [Default:B.GoToSurface] Stopped
2020-11-20T17:54:19.442Z,1605894859.442 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-20T17:54:19.442Z,1605894859.442 [Default:CheckIn] Stopped
2020-11-20T17:54:19.442Z,1605894859.442 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-11-20T17:54:19.442Z,1605894859.442 [Default:CheckIn:Read_Iridium] Stopped
2020-11-20T17:54:19.444Z,1605894859.444 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-11-20T17:54:19.445Z,1605894859.445 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-11-20T17:54:19.445Z,1605894859.445 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-11-20T17:54:19.445Z,1605894859.445 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-11-20T17:54:19.445Z,1605894859.445 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-11-20T17:54:19.446Z,1605894859.446 [BuoyancyServo](INFO): Powering down
2020-11-20T17:54:19.457Z,1605894859.457 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-11-20T17:54:19.457Z,1605894859.457 [ElevatorServo](INFO): Powering down
2020-11-20T17:54:19.458Z,1605894859.458 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-11-20T17:54:19.458Z,1605894859.458 [MassServo](INFO): Powering down
2020-11-20T17:54:19.458Z,1605894859.458 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-11-20T17:54:19.458Z,1605894859.458 [RudderServo](INFO): Powering down
2020-11-20T17:54:19.459Z,1605894859.459 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-11-20T17:54:19.459Z,1605894859.459 [ThrusterServo](INFO): Powering down
2020-11-20T17:54:19.460Z,1605894859.460 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-11-20T17:54:19.461Z,1605894859.461 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-11-20T17:54:19.461Z,1605894859.461 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-11-20T17:54:19.461Z,1605894859.461 [CBIT](DEBUG): Powering off loads.
2020-11-20T17:54:19.472Z,1605894859.472 [CBIT](DEBUG): Disabling WDT.
2020-11-20T17:54:19.484Z,1605894859.484 [CBIT](DEBUG): Opening all GF detection circuits.
2020-11-20T17:54:19.485Z,1605894859.485 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.577Z,1605894859.577 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.579Z,1605894859.579 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.584Z,1605894859.584 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.624Z,1605894859.624 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.629Z,1605894859.629 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.663Z,1605894859.663 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-20T17:54:19.724Z,1605894859.724 [logger ThreadHandler](INFO): Thread cancelled.